function

Functions

CONTENTS

Abs Gets the absolute value

ACos Calculates the arc cosine value

AOutput Reads the value of an analog output signal

ASin Calculates the arc sine value

ATan Calculates the arc tangent value

ATan2 Calculates the arc tangent2 value

ByteToStr Converts a byte to a string data

CalcJointT Calculates joint angles from robtarget

CalcRobT Calculates robtarget from jointtarget

CDate Reads the current date as a string

CJointT Reads the current joint angles

ClkRead Reads a clock used for timing

Cos Calculates the cosine value

CPos Reads the current position (pos) data

CRobT Reads the current position (robtarget) data

CTime Reads the current time as a string

CTool Reads the current tool data

CWObj Reads the current work object data

DefDFrame Define a displacement frame

DefFrame Define a frame

Dim Obtains the size of an array

Distance Distance between two points

DotProd Dot product of two pos vectors

DOutput Reads the value of a digital output signal

EulerZYX Gets Euler angles from orient

Exp Calculates the exponential value

FileTime Retrieve time information about a file

GOutput Reads the value of a group of digital output signals

GetTime Reads the current time as a numeric value

IsPers Is Persistent

IsVar Is Variable

MaxRobSpeed Max. Robot Speed

MirPos Mirroring of a position

ModTime Get time of load for a loaded module

NOrient Normalise Orientation

NumToStr Converts numeric value to string

System Data Types and Routines 3-523

Functions

Offs Displaces a robot position

OpMode Read the operating mode

OrientZYX Builds an orient from Euler angles

ORobT Removes a program displacement from a position

PoseInv Inverts the pose

PoseMult Multiplies pose data

PoseVect Applies a transformation to a vector

Pow Calculates the power of a value

Present Tests if an optional parameter is used

ReadBin Reads a byte from a file or serial channel

ReadMotor Reads the current motor angles

ReadNum Reads a number from a file or serial channel

ReadStr Reads a string from a file or serial channel

ReadStrBin Reads a string from a binary serial channel or file

RelTool Make a displacement relative to the tool

Round Round is a numeric value

RunMode Read the running mode

Sin Calculates the sine value

Sqrt Calculates the square root value

StrFind Searches for a character in a string

StrLen Gets the string length

StrMap Maps a string

StrMatch Search for pattern in string

StrMemb Checks if a character belongs to a set

StrOrder Checks if strings are ordered

StrPart Finds a part of a string

StrToByte Converts a string to a byte data

StrToVal Converts a string to a value

Tan Calculates the tangent value

TestAndSet Test variable and set if unset

TestDI Tests if a digital input is set

Trunc Truncates a numeric value

TestSignRead Read test signal value

ValToStr Converts a value to a string

VectMagn Magnitude of a pos vector

3-524 System Data Types and Routines

Functions Abs

Abs Gets the absolute value

Abs is used to get the absolute value, i.e. a positive value of numeric data.

Example

reg1 := Abs(reg2);

Reg1 is assigned the absolute value of reg2.

Return value Data type: num

The absolute value, i.e. a positive numeric value.

e.g. Input value Returned value

3 3

-3 3

-2.53 2.53

Arguments

Abs (Input)

Input Data type: num

The input value.

Example

TPReadNum no_of_parts, "How many parts should be produced? ";no_of_parts := Abs(no_of_parts);

The operator is asked to input the number of parts to be produced. To ensure that the value is greater than zero, the value given by the operator is made positive.

Syntax

Abs ’(’[ Input ’:=’ ] < expression (IN) of num > ’)’

A function with a return value of the data type num.

System Data Types and Routines 3-Abs-525

Abs Functions

Related information

Described in:

Mathematical instructions and functions RAPID Summary - Mathematics

3-Abs-526 System Data Types and Routines

Functions ACos

ACos Calculates the arc cosine value

ACos (Arc Cosine) is used to calculate the arc cosine value.

Example

VAR num angle;VAR num value;..angle := ACos(value);


The arc cosine value, expressed in degrees, range [0, 180].

Arguments

ACos (Value)

Value Data type: num

The argument value, range [-1, 1].

Syntax

Acos’(’[Value ’:=’] <expression (IN) of num>’)’


Related information

Described in:


System Data Types and Routines 3-ACos-527

ACos Functions

3-ACos-528 System Data Types and Routines

Functions AOutput

AOutput Reads the value of an analog output signal

AOutput is used to read the current value of an analog output signal.

Example

IF AOutput(ao4) > 5 THEN ...

If the current value of the signal ao4 is greater than 5, then ...


The current value of the signal.

The current value is scaled (in accordance with the system parameters) before it is read by the RAPID program. See Figure 35.

Figure 35 Diagram of how analog signal values are scaled.

Arguments

AOutput (Signal)

Signal Data type: signalao

The name of the analog output to be read.

Logical value in the program

Physical value of the output signal (V, mA, etc.)

MAX SIGNAL

MIN SIGNAL

MAX PROGRAM

MIN PROGRAM

System Data Types and Routines 3-AOutput-529

AOutput Functions

Syntax

AOutput ’(’[ Signal ’:=’ ] < variable (VAR) of signalao > ’)’

A function with a return value of data type num.

Related information

Described in:

Input/Output instructions RAPID Summary - Input and Output Signals

Input/Output functionality in general Motion and I/O Principles -I/O Principles

Configuration of I/O User’s Guide - System Parameters

3-AOutput-530 System Data Types and Routines

Functions ASin

ASin Calculates the arc sine value

ASin (Arc Sine) is used to calculate the arc sine value.

Example

VAR num angle;VAR num value;..angle := ASin(value);


The arc sine value, expressed in degrees, range [-90, 90].

Arguments

ASin (Value)


The argument value, range [-1, 1].

Syntax

ASin’(’[Value ’:=’] <expression (IN) of num>’)’


Related information

Described in:


System Data Types and Routines 3-ASin-531

ASin Functions

3-ASin-532 System Data Types and Routines

Functions ATan

ATan Calculates the arc tangent value

ATan (Arc Tangent) is used to calculate the arc tangent value.

Example

VAR num angle;VAR num value;..angle := ATan(value);


The arc tangent value, expressed in degrees, range [-90, 90].

Arguments

ATan (Value)


The argument value.

Syntax

ATan’(’[Value ’:=’] <expression (IN) of num>’)’


Related information

Described in:


Arc tangent with a return value in the Functions - ATan2range [-180, 180]

System Data Types and Routines 3-ATan-533

ATan Functions

3-ATan-534 System Data Types and Routines

Functions ATan2

ATan2 Calculates the arc tangent2 value

ATan2 (Arc Tangent2) is used to calculate the arc tangent2 value.

Example

VAR num angle;VAR num x_value;VAR num y_value;..angle := ATan2(y_value, x_value);


The arc tangent value, expressed in degrees, range [-180, 180].

The value will be equal to ATan(y/x), but in the range [-180, 180], since the function uses the sign of both arguments to determine the quadrant of the return value.

Arguments

ATan2 (Y X)

Y Data type: num

The numerator argument value.

X Data type: num

The denominator argument value.

Syntax

ATan2’(’[Y ’:=’] <expression (IN) of num> ’,’[X ’:=’] <expression (IN) of num>’)’


System Data Types and Routines 3-ATan2-535

Atan2 Functions

Related information

Described in:


Arc tangent with only one argument Functions - ATan

3-Atan2-536 System Data Types and Routines

Functions ByteToStr

System Data Types and Routines 3-ByteToStr-537

ByteToStr Converts a byte to a string data

ByteToStr (Byte To String) is used to convert a byte into a string data with a defined byte data format.

Example

VAR string con_data_buffer{5};VAR byte data1 := 122;

con_data_buffer{1} := ByteToStr(data1);

The content of the array component con_data_buffer{1} will be "122" after the ByteToStr ... function.

con_data_buffer{2} := ByteToStr(data1\Hex);

The content of the array component con_data_buffer{2} will be "7A" after the ByteToStr ... function.

con_data_buffer{3} := ByteToStr(data1\Okt);

The content of the array component con_data_buffer{3} will be "172" after the ByteToStr ... function.

con_data_buffer{4} := ByteToStr(data1\Bin);

The content of the array component con_data_buffer{4} will be "01111010"after the ByteToStr ... function.

con_data_buffer{5} := ByteToStr(data1\Char);

The content of the array component con_data_buffer{5} will be "z" after the ByteToStr ... function.

Return value Data type: string

The result of the conversion operation with the following format:

Format: Characters: String length: Range:Dec .....: ’0’ - ’9’ 1-3 "0" - "255"Hex .....: ’0’ - ’9’, ’A’ -’F’ 2 "00" - "FF"Okt ......: ’0’ - ’7’ 3 "000" - "377"Bin ......: ’0’ - ’1’ 8 "00000000" -

"11111111"Char ....: Any ASCII char (*) 1 One ASCII char

(*) If non-writable ASCII char, the return format will be RAPID character codeformat (e.g. “\07” for BEL control character).

ByteToStr Functions

Arguments

ByteToStr (BitData [\Hex] | [\Oct] | [\Bin] | [\Char])

BitData Data type: byte

The bit data to be converted.

If the optional switch argument is omitted, the data will be converted in decimal (Dec) format.

[\Hex] (Hexadecimal) Data type: switch

The data will be converted in hexadecimal format.

[\Okt] (Octal) Data type: switch

The data will be converted in octal format.

[\Bin] (Binary) Data type: switch

The data will be converted in binary format.

[\Char] (Character) Data type: switch

The data will be converted in ASCII character format.

Limitations

The range for a data type byte is 0 to 255 decimal.

Syntax

ByteToStr’(’[BitData ’:=’] <expression (IN) of byte>[’\’ Hex ] | [’\’ Okt] | [’\’ Bin] | [’\’ Char]’)’ ’;’

A function with a return value of the data type string.

3-ByteToStr-538 System Data Types and Routines

Functions Pow

Related information

Described in:

Convert a string to a byte data Instructions - StrToByte

Other bit (byte) functions RAPID Summary - Bit Functions

Other string functions RAPID Summary - String Functions

System Data Types and Routines 3-Pow-539

Pow Functions

3-Pow-540 System Data Types and Routines

Functions CalcJointT

CalcJointT Calculates joint angles from robtarget

CalcJointT (Calculate Joint Target) is used to calculate joint angles of the robot axes and external axes from a specified robtarget data.

The input robtarget data should be specified in the same coordinate system as specified in argument for Tool, WObj and at execution time active program displacement (ProgDisp) and external axes offset (EOffs).The returned jointtarget data is expressed in the calibration coordinate system.

Example

VAR jointtarget jointpos1;CONST robtarget p1 := [...];

jointpos1 := CalcJointT(p1, tool1 \WObj:=wobj1);

The jointtarget value corresponding to the robtarget value p1 is stored in jointpos1. The tool tool1 and work object wobj1 are used for calculating the joint angles jointpos1.

Return value Data type: jointtarget

The angles in degrees for the axes of the robot on the arm side.

The values for the external axes, in mm for linear axes, in degrees for rotational axes.

The returned values are always related to the calibration position.

Arguments

CalcJointT ( Rob_target Tool [\WObj] )

Rob_target Data type: robtarget

The position of the robot and external axes in the outermost coordinate system, related to the specified tool and work object and at execution time active program displacement (ProgDisp) and/or external axes offset (EOffs).

Tool Data type: tooldata

The tool used for calculation of the robot joint angles.

System Data Types and Routines 3-CalcJointT-541

CalcJointT Functions

[\WObj] (Work Object) Data type: wobjdata

The work object (coordinate system) to which the robot position is related.

If this argument is omitted the work object wobj0 is used.This argument must be specified when using stationary tool, coordinated external axes, or conveyor

Program execution

The returned jointtarget is calculated from the input robtarget.To calculate the robot joint angles, the specified Tool, WObj (including coordinated user frame) and the ProgDisp active at execution time, are taken into consideration.To calculate the external axis position at the execution time, active EOffs is taken into consideration.

The calculation always selects the robot configuration according to the specified con-figuration data in the input robtarget data. Instructions ConfL and ConfJ do not affect this calculation principle. When wrist singularity is used, robot axis 4 will be set to 0 degrees.

If there is any active program displacement (ProgDisp) and/or external axis offset (EOffs) at the time the robtarget is stored, then the same program displacement and/or external axis offset must be active when CalcJointT is executed.

Syntax

CalcJointT’(’[Rob_target ’:=’] <expression (IN) of robtarget> ‘,’[Tool ’:=’ ] <persistent (PERS) of tooldata>[’\’WObj ’:=’ <persistent (PERS) of wobjdata>] ’)’

A function with a return value of the data type jointtarget.

3-CalcJointT-542 System Data Types and Routines

Functions CalcJointT

Related information

Described in:

Calculate robtarget from jointtarget Functions - CalcRobT

Definition of position Data Types - robtarget

Definition of joint position Data Types - jointtarget

Definition of tools Data Types- tooldata

Definition of work objects Data Types - wobjdata

Coordinate systems Motion and I/O Principles - Coordi-nate Systems

Program displacement coordinate system Instructions - PDispOn

External axis offset coordinate system Instructions - EOffsOn

System Data Types and Routines 3-CalcJointT-543

CalcJointT Functions

3-CalcJointT-544 System Data Types and Routines

Functions CalcRobT

CalcRobT Calculates robtarget from jointtarget

CalcRobT (Calculate Robot Target) is used to calculate a robtarget data from a given jointtarget data.

This function returns a robtarget value with position (x, y, z), orientation (q1 ... q4), robot axes configuration and external axes position.

The input jointtarget data should be specified in the calibration coordinate system.The returned robtarget data is expressed in the outermost coordinate system, taking the specified tool, work object and at execution time active program displacement (ProgDisp) and external axis offset (EOffs) into consideration.

Example

VAR robtarget p1;CONST jointtarget jointpos1 := [...];

p1 := CalcRobT(jointpos1, tool1 \WObj:=wobj1);

The robtarget value corresponding to the jointtarget value jointpos1 is stored in p1. The tool tool1 and work object wobj1 are used for calculating of the position p1.

Return value Data type: robtarget

The robot and external axis position is returned in data type robtarget and expressed in the outermost coordinate system, taking the specified tool, work object and at execu-tion time active program displacement (ProgDisp) and external axes offset (EOffs) into consideration.

If there is no active ProgDisp, the robot position is expressed in the object coordinate system.If there are no active EOffs, the external axis position is expressed in the calibration coordinate system.

Arguments

CalcRobT ( Joint_target Tool [\WObj] )

Joint_target Data type: jointtarget

The joint position for the robot axes and external axes related to the calibration coordinate system.

System Data Types and Routines 3-CalcRobT-545

CalcRobT Functions

Tool Data type: tooldata

The tool used for calculation of the robot position.


The work object (coordinate system) to which the robot position returned by the function is related.

If this argument is omitted the work object wobj0 is used.This argument must be specified when using stationary tool, coordinated external axes, or conveyor.

Program execution

The returned robtarget is calculated from the input jointtarget.To calculate the cartesian robot position, the specified Tool, WObj (including coordi-nated user frame) and at the execution time active ProgDisp are taken into considera-tion.To calculate the external axes position, the EOffs active at execution time is taken into consideration.

Syntax

CalcRobT’(’[Joint_target ’:=’ ] <expression (IN) of jointtarget> ‘,’[Tool ’:=’ ] <persistent (PERS) of tooldata>[’\’WObj ’:=’ <persistent (PERS) of wobjdata>] ’)’

A function with a return value of the data type robtarget.

3-CalcRobT-546 System Data Types and Routines

Functions CalcRobT

Related information

Described in:

Calculate jointtarget from robtarget Functions - CalcJointT


Definition of joint position Data Types - jointtarget




Program displacement coordinate system Instructions - PDispOn

External axes offset coordinate system Instructions - EOffsOn

System Data Types and Routines 3-CalcRobT-547

CalcRobT Functions

3-CalcRobT-548 System Data Types and Routines

Functions CDate

CDate Reads the current date as a string

CDate (Current Date) is used to read the current system date.

This function can be used to present the current date to the operator on the teach pen-dant display or to paste the current date into a text file that the program writes to.

Example

VAR string date;

date := CDate();

The current date is stored in the variable date.


The current date in a string.

The standard date format is “year-month-day”, e.g. ”1998-01-29”.

Example

date := CDate();TPWrite “The current date is: “+date;Write logfile, date;

The current date is written to the teach pendant display and into a text file.

Syntax

CDate ’(’ ’)’

A function with a return value of the type string.

Related Information

Described in:

Time instructions RAPID Summary - System & Time

Setting the system clock User’s Guide - Service

System Data Types and Routines 3-CDate-549

CDate Functions

3-CDate-550 System Data Types and Routines

Functions CJointT

CJointT Reads the current joint angles

CJointT (Current Joint Target) is used to read the current angles of the robot axes and external axes.

Example

VAR jointtarget joints;

joints := CJointT();

The current angles of the axes for the robot and external axes are stored in joints.

Return value Data type: jointtarget

The current angles in degrees for the axes of the robot on the arm side.

The current values for the external axes, in mm for linear axes, in degrees for rotational axes.

The returned values are related to the calibration position.

Syntax

CJointT’(’’)’

A function with a return value of the data type jointtarget.

Related information

Described in:

Definition of joint Data Types - jointtarget

Reading the current motor angle Functions - ReadMotor

System Data Types and Routines 3-CJointT-551

CJointT Functions

3-CJointT-552 System Data Types and Routines

Functions ClkRead

ClkRead Reads a clock used for timing

ClkRead is used to read a clock that functions as a stop-watch used for timing.

Example

reg1:=ClkRead(clock1);

The clock clock1 is read and the time in seconds is stored in the variable reg1.


The time in seconds stored in the clock. Resolution 0.010 seconds.

Argument

ClkRead (Clock)

Clock Data type: clock

The name of the clock to read.

Program execution

A clock can be read when it is stopped or running.

Once a clock is read it can be read again, started again, stopped, or reset.

Error handling

If the clock runs for 4,294,967 seconds (49 days 17 hours 2 minutes 47 seconds) it becomes overflowed and the system variable ERRNO is set to ERR_OVERFLOW.

The error can be handled in the error handler.

Syntax

ClkRead ’(’[ Clock ’:=’ ] < variable (VAR) of clock > ’)’

A function with a return value of the type num.

System Data Types and Routines 3-ClkRead-553

ClkRead Functions

Related Information

Described in:

Clock instructions RAPID Summary - System & Time

Clock overflow Data Types - clock

More examples Instructions - ClkStart

3-ClkRead-554 System Data Types and Routines

Functions Cos

Cos Calculates the cosine value

Cos (Cosine) is used to calculate the cosine value from an angle value.

Example

VAR num angle;VAR num value;..value := Cos(angle);


The cosine value, range = [-1, 1] .

Arguments

Cos (Angle)

Angle Data type: num

The angle value, expressed in degrees.

Syntax

Cos’(’[Angle ’:=’] <expression (IN) of num>’)’


Related information

Described in:


System Data Types and Routines 3-Cos-555

Cos Functions

3-Cos-556 System Data Types and Routines

Functions CPos

CPos Reads the current position (pos) data

CPos (Current Position) is used to read the current position of the robot.

This function returns the x, y, and z values of the robot TCP as data of type pos. If the complete robot position (robtarget) is to be read, use the function CRobT instead.

Example

VAR pos pos1;

pos1 := CPos(\Tool:=tool1 \WObj:=wobj0);

The current position of the robot TCP is stored in variable pos1. The tool tool1 and work object wobj0 are used for calculating the position.

Return value Data type: pos

The current position (pos) of the robot with x, y, and z in the outermost coordinate sys-tem, taking the specified tool, work object and active ProgDisp coordinate system into consideration.

Arguments

CPos ([\Tool] [\WObj])

[\Tool] Data type: tooldata

The tool used for calculation of the current robot position.

If this argument is omitted the current active tool is used.


The work object (coordinate system) to which the current robot position returned by the function is related.

If this argument is omitted the current active work object is used.

When programming, it is very sensible to always specify arguments \Tool and \WObj. The function will always then return the wanted position, although some other tool or work object has been activated manually.

System Data Types and Routines 3-CPos-557

CPos Functions

Program execution

The coordinates returned represent the TCP position in the ProgDisp coordinate sys-tem.

Example

VAR pos pos2;VAR pos pos3;VAR pos pos4;

pos2 := CPos(\Tool:=grip3 \WObj:=fixture);..pos3 := CPos(\Tool:=grip3 \WObj:=fixture);pos4 := pos3-pos2;

The x, y, and z position of the robot is captured at two places within the program using the CPos function. The tool grip3 and work object fixture are used for cal-culating the position. The x, y and z distances travelled between these positions are then calculated and stored in the pos variable pos4.

Syntax

CPos ’(’[’\’Tool ’:=’ <persistent (PERS) of tooldata>][’\’WObj ’:=’ <persistent (PERS) of wobjdata>] ’)’

A function with a return value of the data type pos.

Related information

Described in:

Definition of position Data Types - pos




Reading the current robtarget Functions - CRobT

3-CPos-558 System Data Types and Routines

Functions CRobT

CRobT Reads the current position (robtarget) data

CRobT (Current Robot Target) is used to read the current position of the robot and external axes.

This function returns a robtarget value with position (x, y, z), orientation (q1 ... q4), robot axes configuration and external axes position. If only the x, y, and z values of the robot TCP (pos) are to be read, use the function CPos instead.

Example

VAR robtarget p1;

p1 := CRobT(\Tool:=tool1 \WObj:=wobj0);

The current position of the robot and external axes is stored in p1. The tool tool1 and work object wobj0 are used for calculating the position.


The current position of the robot and external axes in the outermost coordinate system, taking the specified tool, work object and active ProgDisp/ExtOffs coordinate system into consideration.

Arguments

CRobT ([\Tool] [\WObj])

[\Tool] Data type: tooldata

The tool used for calculation of the current robot position.

If this argument is omitted the current active tool is used.


The work object (coordinate system) to which the current robot position returned by the function is related.

If this argument is omitted the current active work object is used.

When programming, it is very sensible to always specify arguments \Tool and \WObj. The function will always then return the wanted position, although some other tool or work object has been activated manually.

System Data Types and Routines 3-CRobT-559

CRobT Functions

Program execution

The coordinates returned represent the TCP position in the ProgDisp coordinate sys-tem. External axes are represented in the ExtOffs coordinate system.

Example

VAR robtarget p2;

p2 := ORobT( RobT(\Tool:=grip3 \WObj:=fixture) );

The current position in the object coordinate system (without any ProgDisp or ExtOffs) of the robot and external axes is stored in p2. The tool grip3 and work object fixture are used for calculating the position.

Syntax

CRobT’(’[’\’Tool ’:=’ <persistent (PERS) of tooldata>][’\’WObj ’:=’ <persistent (PERS) of wobjdata>] ’)’


Related information

Described in:





ExtOffs coordinate system Instructions - EOffsOn

Reading the current pos (x, y, z only) Functions - CPos

3-CRobT-560 System Data Types and Routines

Functions CTime

CTime Reads the current time as a string

CTime is used to read the current system time.

This function can be used to present the current time to the operator on the teach pen-dant display or to paste the current time into a text file that the program writes to.

Example

VAR string time;

time := CTime();

The current time is stored in the variable time.


The current time in a string.

The standard time format is "hours:minutes:seconds", e.g. "18:20:46".

Example

time := CTime();TPWrite “The current time is: “+time;Write logfile, time;

The current time is written to the teach pendant display and written into a textfile.

Syntax

CTime ’(’ ’)’


System Data Types and Routines 3-CTime-561

CTime Functions

Related Information

Described in:

Time and date instructions RAPID Summary - System & Time

Setting the system clock User’s Guide - System Parameters

3-CTime-562 System Data Types and Routines

Functions CTool

CTool Reads the current tool data

CTool (Current Tool) is used to read the data of the current tool.

Example

PERS tooldata temp_tool:= [ TRUE, [ [0, 0, 0], [1, 0, 0 ,0] ], [0.001, [0, 0, 0.001], [1, 0, 0, 0], 0, 0, 0] ];

temp_tool := CTool();

The value of the current tool is stored in the variable temp_tool.

Return value Data type: tooldata

This function returns a tooldata value holding the value of the current tool, i.e. the tool last used in a movement instruction.

The value returned represents the TCP position and orientation in the wrist centre coor-dinate system, see tooldata.

Syntax

CTool’(’’)’

A function with a return value of the data type tooldata.

Related information

Described in:



System Data Types and Routines 3-CTool-563

CTool Functions

3-CTool-564 System Data Types and Routines

Functions CWObj

CWObj Reads the current work object data

CWObj (Current Work Object) is used to read the data of the current work object.

Example

PERS wobjdata temp_wobj;

temp_wobj := CWObj();

The value of the current work object is stored in the variable temp_wobj.

Return value Data type: wobjdata

This function returns a wobjdata value holding the value of the current work object, i.e. the work object last used in a movement instruction.

The value returned represents the work object position and orientation in the world coordinate system, see wobjdata.

Syntax

CWObj’(’’)’

A function with a return value of the data type wobjdata.

Related information

Described in:

Definition of work objects Data Types- wobjdata


System Data Types and Routines 3-CWObj-565

CWObj Functions

3-CWObj-566 System Data Types and Routines

Functions DefDFrame

DefDFrame Define a displacement frame

DefDFrame (Define Displacement Frame) is used to calculate a displacement frame from three original positions and three displaced positions.

Example

Three positions, p1- p3, related to an object in an original position, have been stored. After a displacement of the object the same positions are searched for and stored as p4-p6. From these six positions the displacement frame is calculated. Then the calculated frame is used to displace all the stored positions in the program.

CONST robtarget p1 := [...];CONST robtarget p2 := [...];CONST robtarget p3 := [...];VAR robtarget p4;VAR robtarget p5;VAR robtarget p6;VAR pose frame1;.!Search for the new positionsSearchL sen1, p4, *, v50, tool1;.SearchL sen1, p5, *, v50, tool1;.SearchL sen1, p6, *, v50, tool1;frame1 := DefDframe (p1, p2, p3, p4, p5, p6);.!activation of the displacement defined by frame1PDispSet frame1;

Return value Data type: pose

The displacement frame.

p1

p3

p2p4

p6

p5

System Data Types and Routines 3-DefDFrame-567

DefDFrame Functions

Arguments

DefDFrame (OldP1 OldP2 OldP3 NewP1 NewP2 NewP3)

OldP1 Data type: robtarget

The first original position.


The second original position.


The third original position.

NewP1 Data type: robtarget

The first displaced position. This position must be measured and determined with great accuracy.


The second displaced position. It should be noted that this position can be measured and determined with less accuracy in one direction, e.g. this position must be placed on a line describing the new direction of p1 to p2.


The third displaced position. This position can be measured and determined with less accuracy in two directions, e.g. it has to be placed in a plane describing the new plane of p1, p2 and p3.

Error handling

If it is not possible to calculate the frame because of bad accuracy in the positions, the system variable ERRNO is set to ERR_FRAME. This error can then be handled in the error handler.

Syntax

DefDFrame’(’[OldP1 ’:=’] <expression (IN) of robtarget> ’,’[OldP2 ’:=’] <expression (IN) of robtarget> ’,’[OldP3 ’:=’] <expression (IN) of robtarget> ’,’[NewP1 ’:=’] <expression (IN) of robtarget> ’,’[NewP2 ’:=’] <expression (IN) of robtarget> ’,’[NewP3 ’:=’] <expression (IN) of robtarget> ’)’

A function with a return value of the data type pose.

3-DefDFrame-568 System Data Types and Routines

Functions DefDFrame

Related information

Described in:

Activation of displacement frame Instructions - PDispSet

Manual definition of displacement frame User’s Guide - Calibration

System Data Types and Routines 3-DefDFrame-569

DefDFrame Functions

3-DefDFrame-570 System Data Types and Routines

Functions DefFrame

DefFrame Define a frame

DefFrame (Define Frame) is used to calculate a frame, from three positions defining the frame.

Example

Three positions, p1- p3, related to the object coordinate system, are used to define the new coordinate system, frame1. The first position, p1, is defining the origin of frame1, the second position, p2, is defining the direction of the x-axis and the third position, p3, is defining the location of the xy-plane. The defined frame1 may be used as a displacement frame, as shown in the example below:

CONST robtarget p1 := [...];CONST robtarget p2 := [...];CONST robtarget p3 := [...];VAR pose frame1;..frame1 := DefFrame (p1, p2, p3);..!activation of the displacement defined by frame1PDispSet frame1;


The calculated frame.

The calculation is related to the active object coordinate system.

p1

p3

p2

x

z

y

object frame

x

y

z

frame1

System Data Types and Routines 3-DefFrame-571

DefFrame Functions

Arguments

DefFrame (NewP1 NewP2 NewP3 [\Origin])


The first position, which will define the origin of the new frame.


The second position, which will define the direction of the x-axis of the new frame.


The third position, which will define the xy-plane of the new frame. The position of point 3 will be on the positive y side, see the figure above.

[\Origin] Data type: num

Optional argument, which will define how the origin of the frame will be placed. Origin = 1, means that the origin is placed in NewP1, i.e. the same as if this argument is omitted. Origin = 2 means that the origin is placed in NewP2, see the figure below.

Origin = 3 means that the origin is placed on the line going through NewP1 and NewP2 and so that NewP3 will be placed on the y axis, see the figure below.

New P1

New P3

New P2

x

z

y

object frame

x

yz

frame1

3-DefFrame-572 System Data Types and Routines

Functions DefFrame

Other values, or if Origin is omitted, will place the origin in NewP1.

Limitations

The three positions p1 - p3, defining the frame, must define a well shaped triangle. The most well shaped triangle is the one with all sides of equal length.

The triangle is not considered to be well shaped if the angle θ a is too small. The angle θ is too small if:

The triangle p1, p2, p3 must not be too small, i.e. the positions cannot be too close. The distances between the positions p1 - p2 and p1 - p3 must not be less than 0.1 mm.

Error handling

If the frame cannot be calculated because of the above limitations, the system variable ERRNO is set to ERR_FRAME. This error can then be handled in the error handler.

New P1

New P3

New P2

x

z

y

object frame

x

y

z

frame1

p2p3

p1θ

Θcos 1 104–

–<

System Data Types and Routines 3-DefFrame-573

DefFrame Functions

Syntax

DefFrame’(’[NewP1 ’:=’] <expression (IN) of robtarget> ’,’[NewP2 ’:=’] <expression (IN) of robtarget> ’,’[NewP3 ’:=’] <expression (IN) of robtarget> [’\’Origin ’:=’ <expression (IN) of num> ]’)’


Related information

Described in:


Activation of displacement frame Instructions - PDispSet

3-DefFrame-574 System Data Types and Routines

Functions Dim

Dim Obtains the size of an array

Dim (Dimension) is used to obtain the number of elements in an array.

Example

PROC arrmul(VAR num array{*}, num factor)

FOR index FROM 1 TO Dim(array, 1) DOarray{index} := array{index} * factor;

ENDFOR

ENDPROC

All elements of a num array are multiplied by a factor. This procedure can take any one-dimensional array of data type num as an input.


The number of array elements of the specified dimension.

Arguments

Dim (ArrPar DimNo)

ArrPar (Array Parameter) Data type: Any type

The name of the array.

DimNo (Dimension Number) Data type: num

The desired array dimension: 1 = first dimension 2 = second dimension3 = third dimension

System Data Types and Routines 3-Dim-575

Dim Functions

Example

PROC add_matrix(VAR num array1{*,*,*}, num array2{*,*,*})

IF Dim(array1,1) <> Dim(array2,1) OR Dim(array1,2) <> Dim(array2,2) ORDim(array1,3) <> Dim(array2,3) THENTPWrite "The size of the matrices are not the same";Stop;

ELSEFOR i1 FROM 1 TO Dim(array1, 1) DO

FOR i2 FROM 1 TO Dim(array1, 2) DOFOR i3 FROM 1 TO Dim(array1, 3) DO

array1{i1,i2,i3} := array1{i1,i2,i3} + array2{i1,i2,i3};ENDFOR

ENDFORENDFOR

ENDIFRETURN;

ENDPROC

Two matrices are added. If the size of the matrices differs, the program stops and an error message appears.This procedure can take any three-dimensional arrays of data type num as an input.

Syntax

Dim ’(’[ArrPar’:=’] <reference (REF) of any type> ’,’[DimNo’:=’] <expression (IN) of num> ’)’

A REF parameter requires that the corresponding argument be either a constant, a vari-able or an entire persistent. The argument could also be an IN parameter, a VAR param-eter or an entire PERS parameter.


Related information

Described in:

Array parameters Basic Characteristics - Routines

Array declaration Basic Characteristics - Data

3-Dim-576 System Data Types and Routines

Functions Distance

Distance Distance between two points

Distance is used to calculate the distance between two points in the space.

Example

VAR num dist;CONST pos p1 := [4,0,4];CONST pos p2 := [-4,4,4];...dist := Distance(p1, p2);

The distance in space between the points p1 and p2 is calculated and stored in the variable dist.


The distance (always positive) between the points.

Arguments

Distance (Point1 Point2)

Point1 Data type: pos

The first point described by the pos data type.

Point2 Data type: pos

The second point described by the pos data type.

z

y

x

p1

p2

System Data Types and Routines 3-Distance-577

Distance Functions

Program execution

Calculation of the distance between the two points:

Syntax

Distance’(’[Point1 ’:=’] <expression (IN) of pos> ’,’[Point2 ’:=’] <expression (IN) of pos>’)’


Related information

Described in:


Definition of pos Data Type - pos

z

y

x

x1,y1,z1

x2, y2, z2

x1 x2–( )2 y1 y2–( )2 z1 z2–( )2+ + distance =

3-Distance-578 System Data Types and Routines

Functions DotProd

DotProd Dot product of two pos vectors

DotProd (Dot Product) is used to calculate the dot (or scalar) product of two pos vec-tors. The typical use is to calculate the projection of one vector upon the other or to calculate the angle between the two vectors.

Example

The dot or scalar product of two vectors A and B is a scalar, which equals the products of the magnitudes of A and B and the cosine of the angle between them.

The dot product:

• is less than or equal to the product of their magnitudes.

• can be either a positive or a negative quantity, depending whether the angle between them is smaller or larger then 90 degrees.

• is equal to the product of the magnitude of one vector and the projection of the other vector upon the first one.

• is zero when the vectors are perpendicular to each other.

The vectors are described by the data type pos and the dot product by the data type num:

VAR num dotprod;VAR pos vector1;VAR pos vector2;..vector1 := [1,1,1];vector2 := [1,2,3];dotprod := DotProd(vector1, vector2);

A

B

θAB

B θcos AB A

A B⋅ A B θABcos=

System Data Types and Routines 3-DotProd-579

DotProd Functions


The value of the dot product of the two vectors.

Arguments

DotProd (Vector1 Vector2)

Vector1 Data type: pos

The first vector described by the pos data type.

Vector2 Data type: pos

The second vector described by the pos data type.

Syntax

DotProd’(’[Vector1 ’:=’] <expression (IN) of pos> ’,’[Vector2 ’:=’] <expression (IN) of pos>’)’


Related information

Described in:


3-DotProd-580 System Data Types and Routines

Functions DOutput

DOutput Reads the value of a digital output signal

DOutput is used to read the current value of a digital output signal.

Example

IF DOutput(do2) = 1 THEN . . .

If the current value of the signal do2 is equal to 1, then . . .

Return value Data type: dionum

The current value of the signal (0 or 1).

Arguments

DOutput (Signal)

Signal Data type: signaldo

The name of the signal to be read.

Program execution

The value read depends on the configuration of the signal. If the signal is inverted in the system parameters, the value returned by this function is the opposite of the true value of the physical channel.

Example

IF DOutput(auto_on) <> active THEN . . .

If the current value of the system signal auto_on is not active, then ..., i.e. if the robot is in the manual operating mode, then ... Note that the signal must first be defined as a system output in the system parameters.

Syntax

DOutput ’(’[ Signal ’:=’ ] < variable (VAR) of signaldo > ’)’

A function with a return value of the data type dionum.

System Data Types and Routines 3-DOutput-581

DOutput Functions

Related information

Described in:




3-DOutput-582 System Data Types and Routines

Functions EulerZYX

EulerZYX Gets Euler angles from orient

EulerZYX (Euler ZYX rotations) is used to get an Euler angle component from an orient type variable.

Example

VAR num anglex;VAR num angley;VAR num anglez;VAR pose object;..anglex := EulerZYX(\X, object.rot);angley := EulerZYX(\Y, object.rot);anglez := EulerZYX(\Z, object.rot);


The corresponding Euler angle, expressed in degrees, range [-180, 180].

Arguments

EulerZYX ([\X] | [\Y] | [\Z] Rotation)

The arguments \X, \Y and \Z are mutually exclusive. If none of these are specified, a run-time error is generated.

[\X] Data type: switch

Gets the rotation around the X axis.

[\Y] Data type: switch

Gets the rotation around the Y axis.

[\Z] Data type: switch

Gets the rotation around the Z axis.

Rotation Data type: orient

The rotation in its quaternion representation.

System Data Types and Routines 3-EulerZYX-583

EulerZYX Functions

Syntax

EulerZYX’(’['\'X ’,’] | ['\'Y ’,’] | ['\'Z ’,’] [Rotation ’:=’] <expression (IN) of orient> ’)’


Related information

Described in:


3-EulerZYX-584 System Data Types and Routines

Functions Exp

Exp Calculates the exponential value

Exp (Exponential) is used to calculate the exponential value, ex.

Example

VAR num x;VAR num value;..value:= Exp( x);


The exponential value ex .

Arguments

Exp (Exponent)

Exponent Data type: num

The exponent argument value.

Syntax

Exp’(’[Exponent ’:=’] <expression (IN) of num>’)’


Related information

Described in:


System Data Types and Routines 3-Exp-585

Exp Functions

3-Exp-586 System Data Types and Routines

Functions

FileTime Retrieve time information about a file

FileTime is used to retrieve the last time for modification, access or file status change of a file. The time is measured in secs since 00:00:00 GMT, Jan. 1 1970. The time is returned as a num.

Example

Load "HOME:/notmymod.mod";WHILE TRUE DO

! Call some routine in notmymodnotmymodrout;IF FileTime("HOME:/notmymod.mod" \ModifyTime)

> ModTime("notmymod") THEN UnLoad "HOME:notmymod.mod"; Load "HOME:notmymod.mod";ENDIF

ENDWHILE

This program reloads a module if there is a newer at the source. It uses the ModTime to retrieve the latest loading time for the specified module, and to com-pare it to the FileTime\ModifyTime at the source. Then, if the source is newer, the program unloads and loads the module again.


The time measured in secs since 00:00:00 GMT, Jan 1 1970.

Arguments

FileTime ( Path [\ModifyTime] | [\AccessTime] | [\StatCTime] )

Path Data type: string

The file specified with a full or relative path.

ModifyTime Data type: switch

Last modification time.

AccessTime Data type: switch

Time of last access (read, execute of modify).

System Data Types and Routines 3--587

Functions

StatCTime Data type: switch

Last file status (access qualification) change time.

Program execution

This function returns a numeric that specifies the time since the last:

- Modification

- Access

- File status change

of the specified file.

Example

This is a complete example that implements an alert service for maximum 10 files.

LOCAL RECORD falertstring filename;num ftime;

ENDRECORD

LOCAL VAR falert myfiles[10];LOCAL VAR num currentpos:=0;LOCAL VAR intnum timeint;

LOCAL TRAP mytrapVAR num pos:=1;WHILE pos <= currentpos DO

IF FileTime(myfiles{pos}.filename \ModifyTime) > myfiles{pos}.ftime THEN TPWrite "The file "+myfiles{pos}.filename+" is changed";ENDIF

pos := pos+1;ENDWHILE

ENDTRAP

PROC alertInit(num freq)currentpos:=0;CONNECT timeint WITH mytrap;ITimer freq,timeint;

ENDPROC

PROC alertFree()IDelete timeint;

ENDPROC

3--588 System Data Types and Routines

Functions

PROC alertNew(string filename)currentpos := currentpos+1;IF currentpos <= 10 THEN

myfiles{currentpos}.filename := filename;myfiles{currentpos}.ftime := FileTime (filename \ModifyTime);

ENDIFENDPROC

Error handling

If the file does not exist, the system variable ERRNO is set to ERR_FILEACC. This error can then be handled in the error handler.

Syntax

FileTime ’(’[ Path ’:=’ ] < expression (IN) of string> [ '\'ModifyTime] |[ '\'AccessTime] |[ '\'StatCTime] ’)’


Related information

Described in:

Last time a module was loaded Functions - ModTime


Functions


Functions GOutput

GOutput Reads the value of a group of digital output signals

GOutput is used to read the current value of a group of digital output signals.

Example

IF GOutput(go2) = 5 THEN ...

If the current value of the signal go2 is equal to 5, then ...


The current value of the signal (a positive integer).

The values of each signal in the group are read and interpreted as an unsigned binary number. This binary number is then converted to an integer.

The value returned lies within a range that is dependent on the number of signals in the group.

No. of signals Return value No. of signals Return value

1 0 - 1 9 0 - 511

2 0 - 3 10 0 - 1023

3 0 - 7 11 0 - 2047

4 0 - 15 12 0 - 4095

5 0 - 31 13 0 - 8191

6 0 - 63 14 0 - 16383

7 0 - 127 15 0 - 32767

8 0 - 255 16 0 - 65535

Arguments

GOutput (Signal)

Signal Data type: signalgo

The name of the signal group to be read.

System Data Types and Routines 3-GOutput-591

GOutput Functions

Syntax

GOutput ’(’[ Signal ’:=’ ] < variable (VAR) of signalgo > ’)’

A function with a return value of data type num.

Related information

Described in:




3-GOutput-592 System Data Types and Routines

Functions GetTime

GetTime Reads the current time as a numeric value

GetTime is used to read a specified component of the current system time as a numeric value.

GetTime can be used to :

- have the program perform an action at a certain time

- perform certain activities on a weekday

- abstain from performing certain activities on the weekend

- respond to errors differently depending on the time of day.

Example

hour := GetTime(\Hour);

The current hour is stored in the variable hour.


One of the four time components specified below.

Argument

GetTime ( [\WDay] | [\Hour] | [\Min] | [\Sec] )

[\WDay] Data type: switch

Return the current weekday.Range: 1 to 7 (Monday to Sunday).

[\Hour] Data type: switch

Return the current hour.Range: 0 to 23.

[\Min] Data type: switch

Return the current minute.Range: 0 to 59.

[\Sec] Data type: switch

Return the current second.Range: 0 to 59.

System Data Types and Routines 3-GetTime-593

GetTime Functions

One of the arguments must be specified, otherwise program execution stops with an error message.

Example

weekday := GetTime(\WDay);hour := GetTime(\Hour);IF weekday < 6 AND hour >6 AND hour < 16 THEN

production;ELSE

maintenance;ENDIF

If it is a weekday and the time is between 7:00 and 15:59 the robot performs pro-duction. At all other times, the robot is in the maintenance mode.

Syntax

GetTime ’(’[’\’ WDay ] | [ ’\’ Hour ]| [ ’\’ Min ]| [ ’\’ Sec ] ’)’


Related Information

Described in:

Time and date instructions RAPID Summary - System & Time

Setting the system clock User’s Guide - System Parameters

3-GetTime-594 System Data Types and Routines

Functions IsPers

IsPers Is Persistent

IsPers is used to test if a data object is a persistent variable or not.

Example

PROC procedure1 (INOUT num parameter1)IF IsVar(parameter1) THEN

! For this call reference to a variable...

ELSEIF IsPers(parameter1) THEN! For this call reference to a persistent variable...

ELSE! Should not happenEXIT;

ENDIFENDPROC

The procedure procedure1 will take different actions depending on whether the actual parameter parameter1 is a variable or a persistent variable.

Return value Data type: bool

TRUE if the tested actual INOUT parameter is a persistent variable. FALSE if the tested actual INOUT parameter is not a persistent variable.

Arguments

IsPers (DatObj)

DatObj (Data Object) Data type: any type

The name of the formal INOUT parameter.

Syntax

IsPers’(’[ DatObj ’:=’ ] < var or pers (INOUT) of any type > ’)’

A function with a return value of the data type bool.

System Data Types and Routines 3-IsPers-595

IsPers Functions

Related information

Described in:

Test if variable Function - IsVar

Types of parameters (access modes) RAPID Characteristics - Routines

3-IsPers-596 System Data Types and Routines

Functions IsVar

IsVar Is Variable

IsVar is used to test whether a data object is a variable or not.

Example

PROC procedure1 (INOUT num parameter1)IF IsVAR(parameter1) THEN

! For this call reference to a variable...

ELSEIF IsPers(parameter1) THEN! For this call reference to a persistent variable...

ELSE! Should not happenEXIT;

ENDIFENDPROC

The procedure procedure1 will take different actions, depending on whether the actual parameter parameter1 is a variable or a persistent variable.


TRUE if the tested actual INOUT parameter is a variable. FALSE if the tested actual INOUT parameter is not a variable.

Arguments

IsVar (DatObj)

DatObj (Data Object) Data type: any type

The name of the formal INOUT parameter.

Syntax

IsVar’(’[ DatObj ’:=’ ] < var or pers (INOUT) of any type > ’)’


System Data Types and Routines 3-IsVar-597

IsVar Functions

Related information

Described in:

Test if persistent Function - IsPers

Types of parameters (access modes) RAPID Characteristics - Routines

3-IsVar-598 System Data Types and Routines

Functions


MaxRobSpeed Max. Robot Speed

MaxRobSpeed (Maximum Robot Speed) returns the mximum TCP speed for the used robot type.

Example

TPWrite “Max. TCP speed in mm/s for my robot = “ \Num:=MaxRobSpeed();

The message “Max. TCP speed in mm/s for my robot = 5000” is written on the Teach Pendant.


Return the max. TCP speed in mm/s for the used robot type and normal pratical TCP values.

If use of extreme big TCP values in tool frame, create own speeddata withbigger TCP speed than returned by MaxRobSpeed.

Syntax

MaxRobSpeed ’(’ ’)’


Related informationDescribed in:

Definition of velocity Data Types - speeddata

Definition of maximum velocity Instructions - VelSet

Functions


Functions MirPos

MirPos Mirroring of a position

MirPos (Mirror Position) is used to mirror the translation and rotation parts of a posi-tion.

Example

CONST robtarget p1;VAR robtarget p2;PERS wobjdata mirror;..p2 := MirPos(p1, mirror);

p1 is a robtarget storing a position of the robot and an orientation of the tool. This position is mirrored in the xy-plane of the frame defined by mirror, relative to the world coordinate system. The result is new robtarget data, which is stored in p2.


The new position which is the mirrored position of the input position.

Arguments

MirPos (Point MirPlane [\WObj] [\MirY])

Point Data type: robtarget

The input robot position. The orientation part of this position defines the current orientation of the tool coordinate system.

MirPlane (Mirror Plane) Data type: wobjdata

The work object data defining the mirror plane. The mirror plane is the xy-plane of the object frame defined in MirPlane. The location of the object frame is defined relative to the user frame, also defined in MirPlane, which in turn is defined relative to the world frame.


The work object data defining the object frame, and user frame, relative to which the input position, Point, is defined. If this argument is left out, the position is defined relative to the World coordinate system. Note. If the position is created with a work object active, this work object must be referred to in the argument.

System Data Types and Routines 3-MirPos-601

MirPos Functions

[\MirY] (Mirror Y) Data type: switch

If this switch is left out, which is the default rule, the tool frame will be mirrored as regards the x-axis and the z-axis. If the switch is specified, the tool frame will be mirrored as regards the y-axis and the z-axis.

Limitations

No recalculation is done of the robot configuration part of the input robtarget data.

Syntax

MirPos’(’[ Point ’:=’ ] < expression (IN) of robtarget>’,’[MirPlane ’:=’] <expression (IN) of wobjdata> ’,’[’\’WObj ’:=’ <expression (IN) of wobjdata> ][’\’MirY ]’)’


Related information

Described in:


3-MirPos-602 System Data Types and Routines

Functions

ModTime Get time of load for a loaded module

ModTime (Module Time) is used to retrieve the time of loading a specified module. The module is specified by its name and must be in the task memory. The time is measured in secs since 00:00:00 GMT, Jan 1 1970. The time is returned as a num.

Example

MODULE mymod

VAR num mytime;

PROC printMyTime()mytime := ModTime("mymod");TPWrite "My time is "+NumToStr(mytime,0);

ENDPROC


The time measured in secs since 00:00:00 GMT, Jan 1 1970.

Arguments

ModTime ( Object )

Object Data type: string

The name of the module.

Program execution

This function return a numeric that specify the time when the module was loaded.


Functions

Example

This is a complete example that implements an “update if newer” service.

MODULE updmodPROC callrout()

Load "HOME:/mymod.mod";WHILE TRUE DO

! Call some routine in mymodmymodrout;IF FileTime("HOME:/mymod.mod" \ModifyTime)

> ModTime("mymod") THENUnLoad "HOME:/mymod.mod";

Load "HOME:/mymod.mod";ENDIF

ENDWHILEENDPROC

ENDMODULE

This program reloads a module if there is a newer one at the source. It uses the ModTime to retrieve the latest loading time for the specified module, and com-pares it to the FileTime\ModifyTime at the source. Then, if the source is newer, the program unloads and loads the module again.

Syntax

ModTime ’(’[ Object ’:=’ ] < expression (IN) of string>’)’


Related information

Described in:

Retrieve time info. about a file Functions - FileTime


Functions NOrient

NOrient Normalise Orientation

NOrient (Normalise Orientation) is used to normalise unnormalised orientation (quaternion).

Description

An orientation must be normalised, i.e. the sum of the squares mustequal 1:

If the orientation is slightly unnormalised, it is possible to normalise it. The normalisation error is the absolute value of the sum of the squares of the orienta-tion components.The orientation is considered to be slightly unnormalised if the normalisation error is greater then 0.00001 and less then 0.1. If the normalisation error is greater then 0.1 the orient is unusable.

normerr > 0.1 Unusablenormerr > 0.00001 AND err <= 0.1 Slightly unnormalisednormerr <= 0.00001 Normalised

Example

We have a slightly unnormalised position ( 0.707170, 0, 0, 0.707170 )

VAR orient unnormorient := [0.707170, 0, 0, 0.707170];VAR orient normorient;..normorient := NOrient(unnormorient);

The normalisation of the orientation ( 0.707170, 0, 0, 0.707170 ) becomes ( 0.707107, 0, 0, 0.707107 ).

q12 q2

2 q32 q4

2+ + + 1=

ABS q12

q22

q32

q42

+ + + 1–( ) normerr=

ABS 0,7071702

02

02

0,7071702

+ + + 1–( ) 0,0000894=

0,0000894 0,00001 unnormalized⇒>

System Data Types and Routines 3-NOrient-605

NOrient Functions

Return value Data type: orient

The normalised orientation.

Arguments

NOrient (Rotation)

Orient Data type: orient

The orientation to be normalised.

Syntax

NOrient’(’[Rotation ’:=’] <expression (IN) of orient>’)’

A function with a return value of the data type orient.

Related information

Described in:


3-NOrient-606 System Data Types and Routines

Functions NumToStr

NumToStr Converts numeric value to string

NumToStr (Numeric To String) is used to convert a numeric value to a string.

Example

VAR string str;

str := NumToStr(0.38521,3);

The variable str is given the value "0.385".

reg1 := 0.38521

str := NumToStr(reg1, 2\Exp);

The variable str is given the value "3.85E-01".


The numeric value converted to a string with the specified number of decimals, with exponent if so requested. The numeric value is rounded if necessary. The decimal point is suppressed if no decimals are included.

Arguments

NumToStr (Val Dec [\Exp])

Val (Value) Data type: num

The numeric value to be converted.

Dec (Decimals) Data type: num

Number of decimals. The number of decimals must not be negative or greater than the available precision for numeric values.

[\Exp] (Exponent) Data type: switch

To use exponent.

System Data Types and Routines 3-NumToStr-607

NumToStr Functions

Syntax

NumToStr’(’[ Val ’:=’ ] <expression (IN) of num> ’,’[ Dec ’:=’ ] <expression (IN) of num>[ \Exp ]’)’


Related information

Described in:

String functions RAPID Summary - String Functions

Definition of string Data Types - string

String values Basic Characteristics -Basic Elements

3-NumToStr-608 System Data Types and Routines

Functions Offs

Offs Displaces a robot position

Offs is used to add an offset to a robot position.

Examples

MoveL Offs(p2, 0, 0, 10), v1000, z50, tool1;

The robot is moved to a point 10 mm from the position p2 (in the z-direction).

p1 := Offs (p1, 5, 10, 15);

The robot position p1 is displaced 5 mm in the x-direction, 10 mm in the y-direc-tion and 15 mm in the z-direction.


The displaced position data.

Arguments

Offs (Point XOffset YOffset ZOffset)


The position data to be displaced.

XOffset Data type: num

The displacement in the x-direction.

YOffset Data type: num

The displacement in the y-direction.

ZOffset Data type: num

The displacement in the z-direction.

System Data Types and Routines 3-Offs-609

Offs Functions

Example

PROC pallet (num row, num column, num distance, PERS tooldata tool, PERS wobjdata wobj)

VAR robtarget palletpos:=[[0, 0, 0], [1, 0, 0, 0], [0, 0, 0, 0], [9E9, 9E9, 9E9, 9E9, 9E9, 9E9]];

palettpos := Offs (palettpos, (row-1)*distance, (column-1)*distance, 0);MoveL palettpos, v100, fine, tool\WObj:=wobj;

ENDPROC

A routine for picking parts from a pallet is made. Each pallet is defined as a work object (see Figure 36). The part to be picked (row and column) and the distance between the parts are given as input parameters. Incrementing the row and column index is performed outside the routine.

Figure 36 The position and orientation of the pallet is specified by defining a work object.

Syntax

Offs ’(’[Point ’:=’] <expression (IN) of robtarget> ’,’[XOffset ’:=’] <expression (IN) of num> ’,’[YOffset ’:=’] <expression (IN) of num> ’,’[ZOffset ’:=’] <expression (IN) of num> ’)’


Related information

Described in:

Position data Data Types - robtarget

O

O

O

O

O

O

O

O

O

O

O

O

O

O

O

O

O

O

O

O

O

O

O

O

O

O

O

O

O

O

O

O

O

O

O

O

O

O

O

O

O

O

O

O

O

O

O

O

O

O

Y-axis

X-axis

Columns

Rows

3-Offs-610 System Data Types and Routines

Functions OpMode

System Data Types and Routines 3-OpMode-611

OpMode Read the operating mode

OpMode (Operating Mode) is used to read the current operating mode of the system.

Example

TEST OpMode()CASE OP_AUTO:

...CASE OP_MAN_PROG:

...CASE OP_MAN_TEST:

...DEFAULT:

...ENDTEST

Different program sections are executed depending on the current operating mode.

Return value Data type: symnum

The current operating mode as defined in the table below.

Syntax

OpMode’(’ ’)’

A function with a return value of the data type symnum.

Related informationDescribed in:

Different operating modes User’s Guide - Starting up

Reading running mode Functions - RunMode

Return value Symbolic constant Comment

0 OP_UNDEF Undefined operating mode

1 OP_AUTO Automatic operating mode

2 OP_MAN_PROG Manual operating modemax. 250 mm/s

3 OP_MAN_TEST Manual operating modefull speed, 100 %

OpMode Functions

3-OpMode-612 System Data Types and Routines

Functions OrientZYX

OrientZYX Builds an orient from Euler angles

OrientZYX (Orient from Euler ZYX angles) is used to build an orient type variable out of Euler angles.

Example

VAR num anglex;VAR num angley;VAR num anglez;VAR pose object;.object.rot := OrientZYX(anglez, angley, anglex)

Return value Data type: orient

The orientation made from the Euler angles.

The rotations will be performed in the following order:-rotation around the z axis, -rotation around the new y axis-rotation around the new x axis.

Arguments

OrientZYX (ZAngle YAngle XAngle)

ZAngle Data type: num

The rotation, in degrees, around the Z axis.

YAngle Data type: num

The rotation, in degrees, around the Y axis.

XAngle Data type: num

The rotation, in degrees, around the X axis.

The rotations will be performed in the following order:-rotation around the z axis, -rotation around the new y axis-rotation around the new x axis.

System Data Types and Routines 3-OrientZYX-613

OrientZYX Functions

Syntax

OrientZYX’(’[ZAngle ’:=’] <expression (IN) of num> ’,’[YAngle ’:=’] <expression (IN) of num> ’,’[XAngle ’:=’] <expression (IN) of num>’)’

A function with a return value of the data type orient.

Related information

Described in:


3-OrientZYX-614 System Data Types and Routines

Functions ORobT

ORobT Removes a program displacement from a position

ORobT (Object Robot Target) is used to transform a robot position from the program displacement coordinate system to the object coordinate system and/or to remove an offset for the external axes.

Example

VAR robtarget p10;VAR robtarget p11;

p10 := CRobT();p11 := ORobT(p10);

The current positions of the robot and the external axes are stored in p10 and p11. The values stored in p10 are related to the ProgDisp/ExtOffs coordinate system. The values stored in p11 are related to the object coordinate system without any offset on the external axes.


The transformed position data.

Arguments

ORobT (OrgPoint [\InPDisp] | [\InEOffs])

OrgPoint (Original Point) Data type: robtarget

The original point to be transformed.

[\InPDisp] (In Program Displacement) Data type: switch

Returns the TCP position in the ProgDisp coordinate system, i.e. removes exter-nal axes offset only.

[\InEOffs] (In External Offset) Data type: switch

Returns the external axes in the offset coordinate system, i.e. removes program displacement for the robot only.

System Data Types and Routines 3-ORobT-615

ORobT Functions

Examples

p10 := ORobT(p10 \InEOffs );

The ORobT function will remove any program displacement that is active, leav-ing the TCP position relative to the object coordinate system. The external axes will remain in the offset coordinate system.

p10 := ORobT(p10 \InPDisp );

The ORobT function will remove any offset of the external axes. The TCP posi-tion will remain in the ProgDisp coordinate system.

Syntax

ORobT ’(’[ OrgPoint ’:=’ ] < expression (IN) of robtarget>[’\’InPDisp] | [’\’InEOffs]’)’


Related information

Described in:

Definition of program displacement for Instructions - PDispOn, PDispSetthe robot

Definition of offset for external axes Instructions - EOffsOn, EOffsSet


3-ORobT-616 System Data Types and Routines

Functions PoseInv

PoseInv Inverts the pose

PoseInv (Pose Invert) calculates the reverse transformation of a pose.

Example

Pose1 represents the coordinates of Frame1 related to Frame0. The transformation giving the coordinates of Frame0 related to Frame1 is obtained by the reverse transformation:

VAR pose pose1;VAR pose pose2;..pose2 := PoseInv(pose1);


The value of the reverse pose.

Arguments

PoseInv (Pose)

Pose Data type: pose

The pose to invert.

x0

y0

z0

Frame0 x1y1

z1

Frame1

Pose1

Pose2

System Data Types and Routines 3-PoseInv-617

PoseInv Functions

Syntax

PoseInv’(’[Pose ’:=’] <expression (IN) of pose>’)’


Related information

Described in:


3-PoseInv-618 System Data Types and Routines

Functions PoseMult

PoseMult Multiplies pose data

PoseMult (Pose Multiply) is used to calculate the product of two frame transforma-tions. A typical use is to calculate a new frame as the result of a displacement acting on an original frame.

Example

pose1 represents the coordinates of Frame1 related to Frame0. pose2 represents the coordinates of Frame2 related to Frame1.

The transformation giving pose3, the coordinates of Frame2 related to Frame0, is obtained by the product of the two transformations:

VAR pose pose1;VAR pose pose2;VAR pose pose3;..pose3 := PoseMult(pose1, pose2);


The value of the product of the two poses.

x0

y0

z0

Frame0 x1

y1

z1

x2y2

z2Frame1

Frame2

pose1pose2

pose3

System Data Types and Routines 3-PoseMult-619

PoseMult Functions

Arguments

PoseMult (Pose1 Pose2)

Pose1 Data type: pose

The first pose.

Pose2 Data type: pose

The second pose.

Syntax

PoseMult’(’[Pose1 ’:=’] <expression (IN) of pose> ’,’[Pose2 ’:=’] <expression (IN) of pose>’)’


Related information

Described in:


3-PoseMult-620 System Data Types and Routines

Functions PoseVect

PoseVect Applies a transformation to a vector

PoseVect (Pose Vector) is used to calculate the product of a pose and a vector. It is typically used to calculate a vector as the result of the effect of a displacement on an original vector.

Example

pose1 represents the coordinates of Frame1 related to Frame0. pos1 is a vector related to Frame1.

The corresponding vector related to Frame0 is obtained by the product:

VAR pose pose1;VAR pos pos1;VAR pos pos2;..pos2:= PoseVect(pose1, pos1);

Return value Data type: pos

The value of the product of the pose and the original pos.

x0

y0

z0

Frame0

x1

y1

z1

Frame1pose1

pos1pos2

System Data Types and Routines 3-PoseVect-621

PoseVect Functions

Arguments

PoseVect (Pose Pos)

Pose Data type: pose

The transformation to be applied.

Pos Data type: pos

The pos to be transformed.

Syntax

PoseVect’(’[Pose ’:=’] <expression (IN) of pose> ’,’[Pos ’:=’] <expression (IN) of pos>’)’

A function with a return value of the data type pos.

Related information

Described in:


3-PoseVect-622 System Data Types and Routines

Functions Pow

Pow Calculates the power of a value

Pow (Power) is used to calculate the exponential value in any base.

Example

VAR num x;VAR num yVAR num reg1;.reg1:= Pow(x, y);

reg1 is assigned the value xy.


The value of the base x raised to the power of the exponent y ( xy ).

Arguments

Pow (Base Exponent)

Base Data type: num

The base argument value.

Exponent Data type: num

The exponent argument value.

Limitations

The execution of the function xy will give an error if:

. x < 0 and y is not an integer;

. x = 0 and y < 0.


Pow Functions

Syntax

Pow’(’[Base ’:=’] <expression (IN) of num> ’,’[Exponent ’:=’] <expression (IN) of num>’)’


Related information

Described in:



Functions Present

Present Tests if an optional parameter is used

Present is used to test if an optional argument has been used when calling a routine.

An optional parameter may not be used if it was not specified when calling the routine. This function can be used to test if a parameter has been specified, in order to prevent errors from occurring.

Example

PROC feeder (\switch on | \switch off)

IF Present (on) Set do1;IF Present (off) Reset do1;

ENDPROC

The output do1, which controls a feeder, is set or reset depending on the argu-ment used when calling the routine.


TRUE = The parameter value or a switch has been defined when calling the routine.

FALSE = The parameter value or a switch has not been defined.

Arguments

Present (OptPar)

OptPar (Optional Parameter) Data type: Any type

The name of the optional parameter to be tested.

System Data Types and Routines 3-Present-625

Present Functions

Example

PROC glue (\switch on, num glueflow, robtarget topoint, speeddata speed,zonedata zone, PERS tooldata tool, \PERS wobjdata wobj)

IF Present (on) PulseDO glue_on;SetAO gluesignal, glueflow;IF Present (wobj) THEN

MoveL topoint, speed, zone, tool \WObj=wobj;ELSE

MoveL topoint, speed, zone, tool;ENDIF

ENDPROC

A glue routine is made. If the argument \on is specified when calling the routine, a pulse is generated on the signal glue_on. The robot then sets an analog output gluesignal, which controls the glue gun, and moves to the end position. As the wobj parameter is optional, different MoveL instructions are used depending on whether this argument is used or not.

Syntax

Present ’(’[OptPar’:=’] <reference (REF) of any type> ’)’

A REF parameter requires, in this case, the optional parameter name.


Related information

Described in:

Routine parameters Basic Characteristics - Routines

3-Present-626 System Data Types and Routines

Functions ReadBin

ReadBin Reads a byte from a file or serial channel

ReadBin (Read Binary) is used to read a byte (8 bits) from a file or serial channel.

This function works on both binary and character-based files or serial channels.

Example

VAR num character;VAR iodev inchannel;...Open "com2:", inchannel\Bin;character := ReadBin(inchannel);

A byte is read from the binary serial channel inchannel.


A byte (8 bits) is read from a specified file or serial channel. This byte is converted to the corresponding positive numeric value and returned as a num data type. If a file is empty (end of file), the number -1 is returned.

Arguments

ReadBin (IODevice [\Time])

IODevice Data type: iodev

The name (reference) of the file or serial channel to be read.

[\Time] Data type: num

The max. time for the reading operation (timeout) in seconds. If this argument is not specified, the max. time is set to 60 seconds.

If this time runs out before the reading operation is finished, the error handler will be called with the error code ERR_DEV_MAXTIME. If there is no error handler, the execution will be stopped.

The timeout function is in use also during program stop and will be noticed in the RAPID program at program start.

Program execution

Program execution waits until a byte (8 bits) can be read from the file or serial channel.

System Data Types and Routines 3-ReadBin-627

ReadBin Functions

Example

VAR num bindata;VAR iodev file;

Open “HOME:/myfile.bin”, file \Read \Bin;bindata := ReadBin(file);WHILE bindata <> EOF_BIN DO

TPWrite ByteToStr(bindata\Char);bindata := ReadBin(file);

ENDWHILE

Read the contents of a binary file myfile.bin from the beginning to the end and displays the received binary data converted to chars on the teach pendant (one char on each line).

Limitations

The function can only be used for files and serial channels that have been opened with read access (\Read for character based files, \Bin or \Append \Bin for binary files).

Error handling

If an error occurs during reading, the system variable ERRNO is set to ERR_FILEACC.

If time out before the read operation is finished, the system variable ERRNO is set to ERR_DEV_MAXTIME.

These errors can then be dealt with by the error handler.

Predefined data

The constant EOF_BIN can be used to stop reading at the end of the file.

CONST num EOF_BIN := -1;

Syntax

ReadBin’(’[IODevice ’:=’] <variable (VAR) of iodev>[’\’Time’:=’ <expression (IN) of num>]’)’


3-ReadBin-628 System Data Types and Routines

Functions ReadBin

Related information

Described in:

Opening (etc.) files or serial channels RAPID Summary - Communication

Convert a byte to a string data Functions - ByteToStr

System Data Types and Routines 3-ReadBin-629

ReadBin Functions

3-ReadBin-630 System Data Types and Routines

Functions ReadMotor

ReadMotor Reads the current motor angles

ReadMotor is used to read the current angles of the different motors of the robot and external axes. The primary use of this function is in the calibration procedure of the robot.

Example

VAR num motor_angle2;

motor_angle2 := ReadMotor(2);

The current motor angle of the second axis of the robot is stored in motor_angle2.


The current motor angle in radians of the stated axis of the robot or external axes.

Arguments

ReadMotor [\MecUnit ] Axis

MecUnit (Mechanical Unit) Data type: mecunit

The name of the mechanical unit for which an axis is to be read. If this argument is omitted, the axis for the robot is read. (Note, in this release only robot is per-mitted for this argument).

Axis Data type: num

The number of the axis to be read (1 - 6).

Program execution

The motor angle returned represents the current position in radians for the motor and independently of any calibration offset. The value is not related to a fix position of the robot, only to the resolver internal zero position, i.e. normally the resolver zero posi-tion closest to the calibration position (the difference between the resolver zero posi-tion and the calibration position is the calibration offset value). The value represents the full movement of each axis, although this may be several turns.

System Data Types and Routines 3-ReadMotor-631

ReadMotor Functions

Example

VAR num motor_angle3;

motor_angle3 := ReadMotor(\MecUnit:=robot, 3);

The current motor angle of the third axis of the robot is stored in motor_angle3.

Syntax

ReadMotor’(’[’\’MecUnit ’:=’ < variable (VAR) of mecunit>’,’][Axis ’:=’ ] < expression (IN) of num>’)’


Related information

Described in:

Reading the current joint angle Functions - CJointT

3-ReadMotor-632 System Data Types and Routines

Functions ReadNum

ReadNum Reads a number from a file or serial channel

ReadNum (Read Numeric) is used to read a number from a character-based file or serial channel.

Example

VAR iodev infile;...Open "HOME:/file.doc", infile\Read;reg1 := ReadNum(infile);

Reg1 is assigned a number read from the file file.doc.


The numeric value read from a specified file or serial channel. If the file is empty (end of file), the number 9.999E36 is returned.

Arguments

ReadNum (IODevice [\Delim] [\Time])



[\Delim] (Delimiters) Data type: string

A string containing the delimiters to use when parsing a line in the file or serial channel. By default (without \Delim), the file is read line by line and the line-feed character (\0A) is the only delimiter considered by the parsing. When the \Delim argument is used, any character in the specified string argument will be consid-ered to determine the significant part of the line.

When using the argument \Delim, the control system always adds the characters carriage return (\0D) and line-feed (\0A) to the delimiters specified by the user.

To specify non-alphanumeric characters, use \xx, where xx is the hexadecimal representation of the ASCII code of the character (example: TAB is specified by \09).

System Data Types and Routines 3-ReadNum-633

ReadNum Functions

3-ReadNum-634 System Data Types and Routines



If this time runs out before the read operation is finished, the error handler will be called with the error code ERR_DEV_MAXTIME. If there is no error handler, the execution will be stopped.

The timeout function is also in use during program stop and will be noticed in the RAPID program at program start.

Program execution

Starting at the current file position, the function reads and discards any heading delim-iters. A heading delimiter without the argument \Delim is a line-feed character. Heading delimiters with the argument \Delim are any characters specified in the \Delim argu-ment plus carriage return and line-feed characters. It then reads everything up to and including the next delimiter character (will be discarded), but not more than 80 charac-ters. If the significant part exceeds 80 characters, the remainder of the characters will be read on the next reading.

The string that is read is then converted to a numeric value; e.g. “234.4” is converted to the numeric value 234.4.

Example

reg1 := ReadNum(infile\Delim:="\09 ");IF reg1 > EOF_NUM THEN

TPWrite "The file is empty";...

Reads a number in a line where numbers are separated by TAB (“\09”) or SPACE (“ “) characters.Before using the number read from the file, a check is performed to make sure that the file is not empty.

Limitations

The function can only be used for character based files that have been opened for read-ing.

Functions ReadNum

Error handling

If an access error occurs during reading, the system variable ERRNO is set to ERR_FILEACC.

If there is an attempt to read non-numeric data, the system variable ERRNO is set to ERR_RCVDATA.

If time out before the read operation is finished, the system variable ERRNO is set to ERR_DEV_MAXTIME.


Predefined data

The constant EOF_NUM can be used to stop reading, at the end of the file.

CONST num EOF_NUM := 9.998E36;

Syntax

ReadNum ’(’[IODevice ’:=’]<variable (VAR) of iodev>[‘\’Delim’:=’<expression (IN) of string>][’\’Time’:=’<expression (IN) of num>]’)’


Related information

Described in:


System Data Types and Routines 3-ReadNum-635

ReadNum Functions

3-ReadNum-636 System Data Types and Routines

Functions ReadStr

ReadStr Reads a string from a file or serial channel

ReadStr (Read String) is used to read a string from a character-based file or serial chan-nel.

Example

VAR string text;VAR iodev infile;...Open "HOME:/file.doc", infile\Read;text := ReadStr(infile);

Text is assigned a string read from the file file.doc.


The string read from the specified file or serial channel. If the file is empty (end of file), the string "EOF" is returned.

Arguments

ReadStr (IODevice [\Delim] [\RemoveCR] [\DiscardHeaders] [\Time])



[\Delim] (Delimiters) Data type: string

A string containing the delimiters to use when parsing a line in the file or serial channel. By default the file is read line by line and the line-feed character (\0A) is the only delimiter considered by the parsing. When the \Delim argument is used, any character in the specified string argument plus by default line-feed character will be considered to determine the significant part of the line.

To specify non-alphanumeric characters, use \xx, where xx is the hexadecimal representation of the ASCII code of the character (example: TAB is specified by \09).

System Data Types and Routines 3-ReadStr-637

ReadStr Functions

[\RemoveCR] Data type: switch

A switch used to remove the trailing carriage return character when reading PC files. In PC files, a new line is specified by carriage return and line feed (CRLF). When reading a line in such files, the carriage return character is by default read into the return string. When using this argument, the carriage return character will be read from the file but not included in the return string.

[\DiscardHeaders] Data type: switch

This argument specifies whether the heading delimiters (specified in \Delim plus default line-feed) are skipped or not before transferring data to the return string. By default, if the first character at the current file position is a delimiter, it is read but not transferred to the return string, the line parsing is stopped and the return will be an empty string. If this argument is used, all delimiters included in the line will be read from the file but discarded, and the return string will contain the data starting at the first non-delimiter character in the line.



If this time runs out before the read operation is finished, the error handler will be called with the error code ERR_DEV_MAXTIME. If there is no error handler, the execution will be stopped.


Program execution

Starting at the current file position, if the \DiscardHeaders argument is used, the func-tion reads and discards any heading delimiters (line-feed characters and any character specified in the \Delim argument). In all cases, it then reads everything up to the next delimiter character, but not more than 80 characters. If the significant part exceeds 80 characters, the remainder of the characters will be read on the next reading. The delim-iter that caused the parsing to stop is read from the file but not transferred to the return string. If the last character in the string is a carriage return character and the \RemoveCR argument is used, this character will be removed from the string.

3-ReadStr-638 System Data Types and Routines

Functions ReadStr

Example

text := ReadStr(infile);IF text = EOF THEN

TPWrite "The file is empty";...

Before using the string read from the file, a check is performed to make sure that the file is not empty.

Example

Consider a file containing:<LF><SPACE><TAB>Hello<SPACE><SPACE>World<CR><LF>

text := ReadStr(infile);

text will be an empty string: the first character in the file is the default <LF> delimiter.

text := ReadStr(infile\DiscardHeaders);

text will contain <SPACE><TAB>Hello<SPACE><SPACE>World<CR>: the first character in the file, the default <LF> delimiter, is discarded.

text := ReadStr(infile\RemoveCR\DiscardHeaders);

text will contain <SPACE><TAB>Hello<SPACE><SPACE>World: the first character in the file, the default <LF> delimiter, is discarded; the final carriage return character is removed

text := ReadStr(infile\Delim:=” \09”\RemoveCR\DiscardHeaders);

text will contain “Hello”: the first characters in the file that match either the default <LF> delimiter or the character set defined by \Delim (space and tab) are discarded. Data is then transferred up to the first delimiter that is read from the file but not transferred into the string. A new invocation of the same statement will return “World”.

Example

Consider a file containing:<CR><LF>Hello<CR><LF>

text := ReadStr(infile);

text will contain the <CR> (\0d) character: <CR> and <LF> characters are read from the file, but only <CR> is transferred to the string. A new invocation of the same statement will return “Hello\0d”.


ReadStr Functions

text := ReadStr(infile\RemoveCR);

text will contain an empty string: <CR> and <LF> characters are read from the file; <CR> is transferred but removed from the string. A new invocation of the same statement will return “Hello”.

text := ReadStr(infile\Delim:=”\0d”);

text will contain an empty string: <CR> is read from the file but not transferred to the return string. A new invocation of the same instruction will return an empty string again: <LF> is read from the file but not transferred to the return string.

text := ReadStr(infile\Delim:=”\0d”\DiscardHeaders);

text will contain “Hello”. A new invocation of the same instruction will return “EOF” (end of file).

Limitations

The function can only be used for files or serial channels that have been opened for reading in a character-based mode.

Error handling


If timeout before the read operation is finished, the system variable ERRNO is set to ERR_DEV_MAXTIME.


Predefined data

The constant EOF can be used to check if the file was empty when trying to read from the file or to stop reading at the end of the file.

CONST string EOF := "EOF";


Functions ReadStr

Syntax

ReadStr ’(’[IODevice ’:=’] <variable (VAR) of iodev>[‘\’Delim’:=’<expression (IN) of string>][‘\’RemoveCR][‘\’DiscardHeaders][’\’Time’:=’ <expression (IN) of num>]’)’


Related information

Described in:



ReadStr Functions


Functions ReadStrBin

ReadStrBin Reads a string from a binaryserial channel or file

ReadStrBin (Read String Binary) is used to read a string from a binary serial channel or file.

Example

VAR iodev channel2;VAR string text;...Open “com2:”, channel2 \Bin;text := ReadStrBin (channel2, 10);

Text is assigned a 10 characters text string read from the serial channel referred to by channel2.


The text string read from the specified serial channel or file. If the file is empty (end of file), the string "EOF" is returned.

Arguments

ReadStrBin (IODevice NoOfChars [\Time])


The name (reference) of the binary serial channel or file to be read.

NoOfChars Data type: num

The number of characters to be read from the binary serial channel or file.



If this time runs out before the read operation is finished, the error handler will be called with the error code ERR_DEV_MAXTIME. If there is no error han-dler, the execution will be stopped.


System Data Types and Routines 3-ReadStrBin-643

ReadStrBin Functions

Program execution

The function reads the specified number of characters from the binary serial channel or file.

Example

text := ReadStrBin(infile,20);IF text = EOF THEN

TPWrite "The file is empty";

Before using the string read from the file, a check is performed to make sure that the file is not empty.

Limitations

The function can only be used for serial channels or files that have been opened for reading in a binary mode.

Error handling


If timeout before the read operation is finished, the system variable ERRNO is set to ERR_DEV_MAXTIME.


Predefined data

The constant EOF can be used to check if the file was empty, when trying to read from the file or to stop reading at the end of the file.

CONST string EOF := "EOF";

Syntax

ReadStrBin ’(’[IODevice ’:=’] <variable (VAR) of iodev>’,’[NoOfChars ’:=’] <expression (IN) of num>[’\’Time’:=’ <expression (IN) of num>]’)’

3-ReadStrBin-644 System Data Types and Routines

Functions ReadStrBin


Related information

Described in:

Opening (etc.) serial channels RAPID Summary - Communicationor files

Write binary string Instructions - WriteStrBin

System Data Types and Routines 3-ReadStrBin-645

ReadStrBin Functions

3-ReadStrBin-646 System Data Types and Routines

Functions RelTool

RelTool Make a displacement relative to the tool

RelTool (Relative Tool) is used to add a displacement and/or a rotation, expressed in the tool coordinate system, to a robot position.

Example

MoveL RelTool (p1, 0, 0, 100), v100, fine, tool1;

The robot is moved to a position that is 100 mm from p1 in the direction of the tool.

MoveL RelTool (p1, 0, 0, 0 \Rz:= 25), v100, fine, tool1;

The tool is rotated 25o around its z-axis.


The new position with the addition of a displacement and/or a rotation, if any, relative to the active tool.

Arguments

RelTool (Point Dx Dy Dz [\Rx] [\Ry] [\Rz])


The input robot position. The orientation part of this position defines the current orientation of the tool coordinate system.

Dx Data type: num

The displacement in mm in the x direction of the tool coordinate system.

Dy Data type: num

The displacement in mm in the y direction of the tool coordinate system.

Dz Data type: num

The displacement in mm in the z direction of the tool coordinate system.

[\Rx] Data type: num

The rotation in degrees around the x axis of the tool coordinate system.

System Data Types and Routines 3-RelTool-647

RelTool Functions

[\Ry] Data type: num

The rotation in degrees around the y axis of the tool coordinate system.

[\Rz] Data type: num

The rotation in degrees around the z axis of the tool coordinate system.

In the event that two or three rotations are specified at the same time, these will be per-formed first around the x-axis, then around the new y-axis, and then around the new z-axis.

Syntax

RelTool’(’[ Point ’:=’ ] < expression (IN) of robtarget>’,’[Dx ’:=’] <expression (IN) of num> ’,’[Dy ’:=’] <expression (IN) of num> ’,’[Dz ’:=’] <expression (IN) of num> [’\’Rx ’:=’ <expression (IN) of num> ][’\’Ry ’:=’ <expression (IN) of num> ][’\’Rz ’:=’ <expression (IN) of num> ]’)’


Related information

Described in:


Positioning instructions RAPID Summary - Motion

3-RelTool-648 System Data Types and Routines

Functions Round

Round Round is a numeric value

Round is used to round a numeric value to a specified number of decimals or to an inte-ger value.

Example

VAR num val;

val := Round(0.38521\Dec:=3);

The variable val is given the value 0.385.

val := Round(0.38521\Dec:=1);


val := Round(0.38521);

The variable val is given the value 0.


The numeric value rounded to the specified number of decimals.

Arguments

Round ( Val [\Dec])


The numeric value to be rounded.

[\Dec] (Decimals Data type: num

Number of decimals.

If the specified number of decimals is 0 or if the argument is omitted, the value is rounded to an integer.

The number of decimals must not be negative or greater than the available pre-cision for numeric values.

System Data Types and Routines 3-Round-649

Round Functions

Syntax

Round’(’[ Val ’:=’ ] <expression (IN) of num>[ \Dec ’:=’ <expression (IN) of num> ]’)’


Related information

Described in:


Truncating a value Functions - Trunc

3-Round-650 System Data Types and Routines

Functions RunMode

RunMode Read the running mode

RunMode (Running Mode) is used to read the current running mode of the program task.

Example

IF RunMode() = RUN_CONT_CYCLE THEN..ENDIF

The program section is executed only for continuous or cycle running.

Return value Data type: symnum

The current running mode as defined in the table below.

Arguments

RunMode ( [ \Main] )

[ \Main ] Data type: switch

Return current running mode for program task main. Used in multi-tasking system to get current running mode for program task main from some other program task.

If this argument is omitted, the return value always mirrors the current running mode for the program task which executes the function RunMode.

Return value Symbolic constant Comment

0 RUN_UNDEF Undefined running mode

1 RUN_CONT_CYCLE Continuous or cycle running mode

2 RUN_INSTR_FWD Instruction forward running mode

3 RUN_INSTR_BWD Instruction backward running mode

4 RUN_SIM Simulated running mode

System Data Types and Routines 3-RunMode-651

RunMode Functions

Syntax

RunMode ’(’ [’\’Main] ’)’

A function with a return value of the data type symnum.

Related information

Described in:

Reading operating mode Functions - OpMode

3-RunMode-652 System Data Types and Routines

Functions Sin

Sin Calculates the sine value

Sin (Sine) is used to calculate the sine value from an angle value.

Example

VAR num angle;VAR num value;..value := Sin(angle);


The sine value, range [-1, 1] .

Arguments

Sin (Angle)



Syntax

Sin’(’[Angle’:=’] <expression (IN) of num>’)’


Related information

Described in:


System Data Types and Routines 3-Sin-653

Sin Functions

3-Sin-654 System Data Types and Routines

Functions Sqrt

Sqrt Calculates the square root value

Sqrt (Square root) is used to calculate the square root value.

Example

VAR num x_value;VAR num y_value;..y_value := Sqrt( x_value);


The square root value.

Arguments

Sqrt (Value)


The argument value for square root ( ); it has to be .

Syntax

Sqrt’(’[Value’:=’] <expression (IN) of num>’)’


Related information

Described in:


0≥

System Data Types and Routines 3-Sqrt-655

Sqrt Functions

3-Sqrt-656 System Data Types and Routines

Functions StrFind

StrFind Searches for a character in a string

StrFind (String Find) is used to search in a string, starting at a specified position, for a character that belongs to a specified set of characters.

Example

VAR num found;

found := StrFind("Robotics",1,"aeiou");

The variable found is given the value 2.

found := StrFind("Robotics",1,"aeiou"\NotInSet);


found := StrFind("IRB 6400",1,STR_DIGIT);


found := StrFind("IRB 6400",1,STR_WHITE);



The character position of the first character, at or past the specified position, that belongs to the specified set. If no such character is found, String length +1 is returned.

Arguments

StrFind (Str ChPos Set [\NotInSet])

Str (String) Data type: string

The string to search in.

ChPos (Character Position) Data type: num

Start character position. A runtime error is generated if the position is outside the string.

Set Data type: string

Set of characters to test against.

System Data Types and Routines 3-StrFind-657

StrFind Functions

[\NotInSet] Data type: switch

Search for a character not in the set of characters.

Syntax

StrFind’(’[ Str ’:=’ ] <expression (IN) of string> ’,’[ ChPos ’:=’ ] <expression (IN) of num> ’,’[ Set’:=’ ] <expression (IN) of string> [’\’NotInSet ]’)’


Related information

Described in:




3-StrFind-658 System Data Types and Routines

Functions StrLen

StrLen Gets the string length

StrLen (String Length) is used to find the current length of a string.

Example

VAR num len;

len := StrLen("Robotics");

The variable len is given the value 8.


The number of characters in the string (>=0).

Arguments

StrLen (Str)


The string in which the number of characters is to be counted.

Syntax

StrLen’(’[ Str ’:=’ ] <expression (IN) of string> ’)’


Related information

Described in:




System Data Types and Routines 3-StrLen-659

StrLen Functions

3-StrLen-660 System Data Types and Routines

Functions StrMap

StrMap Maps a string

StrMap (String Mapping) is used to create a copy of a string in which all characters are translated according to a specified mapping.

Example

VAR string str;

str := StrMap("Robotics","aeiou","AEIOU");

The variable str is given the value "RObOtIcs".

str := StrMap("Robotics",STR_LOWER, STR_UPPER);

The variable str is given the value "ROBOTICS".


The string created by translating the characters in the specified string, as specified by the "from" and "to" strings. Each character, from the specified string, that is found in the "from" string is replaced by the character at the corresponding position in the "to" string. Characters for which no mapping is defined are copied unchanged to the result-ing string.

Arguments

StrMap ( Str FromMap ToMap)


The string to translate.

FromMap Data type: string

Index part of mapping.

ToMap Data type: string

Value part of mapping.

System Data Types and Routines 3-StrMap-661

StrMap Functions

Syntax

StrMap’(’[ Str ’:=’ ] <expression (IN) of string> ’,’[ FromMap’:=’ ] <expression (IN) of string> ’,’[ ToMap’:=’ ] <expression (IN) of string> ’)’


Related information

Described in:




3-StrMap-662 System Data Types and Routines

Functions StrMatch

StrMatch Search for pattern in string

StrMatch (String Match) is used to search in a string, starting at a specified position, for a specified pattern.

Example

VAR num found;

found := StrMatch("Robotics",1,"bo");



The character position of the first substring, at or past the specified position, that is equal to the specified pattern string. If no such substring is found, string length +1 is returned.

Arguments

StrMatch (Str ChPos Pattern)


The string to search in.



Pattern Data type: string

Pattern string to search for.

Syntax

StrMatch’(’[ Str ’:=’ ] <expression (IN) of string> ’,’[ ChPos ’:=’ ] <expression (IN) of num> ’,’[ Pattern’:=’ ] <expression (IN) of string> ’)’


System Data Types and Routines 3-StrMatch-663

StrMatch Functions

Related information

Described in:




3-StrMatch-664 System Data Types and Routines

Functions StrMemb

StrMemb Checks if a character belongs to a set

StrMemb (String Member) is used to check whether a specified character in a string belongs to a specified set of characters.

Example

VAR bool memb;

memb := StrMemb("Robotics",2,"aeiou");

The variable memb is given the value TRUE, as o is a member of the set "aeiou".

memb := StrMemb("Robotics",3,"aeiou");

The variable memb is given the value FALSE, as b is not a member of the set "aeiou".

memb := StrMemb("S-721 68 VÄSTERÅS",3,STR_DIGIT);

The variable memb is given the value TRUE.


TRUE if the character at the specified position in the specified string belongs to the specified set of characters.

Arguments

StrMemb (Str ChPos Set)


The string to check in.


The character position to check. A runtime error is generated if the position is outside the string.

Set Data type: string

Set of characters to test against.

System Data Types and Routines 3-StrMemb-665

StrMemb Functions

Syntax

StrMemb’(’[ Str ’:=’ ] <expression (IN) of string> ’,’[ ChPos ’:=’ ] <expression (IN) of num> ’,’[ Set’:=’ ] <expression (IN) of string> ’)’


Related information

Described in:




3-StrMemb-666 System Data Types and Routines

Functions StrOrder

StrOrder Checks if strings are ordered

StrOrder (String Order) is used to check whether two strings are in order, according to a specified character ordering sequence.

Example

VAR bool le;

le := StrOrder("FIRST","SECOND",STR_UPPER);

The variable le is given the value TRUE, because "FIRST" comes before "SECOND" in the character ordering sequence STR_UPPER.


TRUE if the first string comes before the second string (Str1 <= Str2) when characters are ordered as specified.

Characters that are not included in the defined ordering are all assumed to follow the present ones.

Arguments

StrOrder ( Str1 Str2 Order)

Str1 (String 1) Data type: string

First string value.

Str2 (String 2) Data type: string

Second string value.

Order Data type: string

Sequence of characters that define the ordering.

System Data Types and Routines 3-StrOrder-667

StrOrder Functions

Syntax

StrOrder’(’[ Str1 ’:=’ ] <expression (IN) of string> ’,’[ Str2 ’:=’ ] <expression (IN) of string> ’,’[ Order ’:=’ ] <expression (IN) of string> ’)’


Related information

Described in:




3-StrOrder-668 System Data Types and Routines

Functions StrPart

StrPart Finds a part of a string

StrPart (String Part) is used to find a part of a string, as a new string.

Example

VAR string part;

part := StrPart("Robotics",1,5);

The variable part is given the value "Robot".


The substring of the specified string, which has the specified length and starts at the specified character position.

Arguments

StrPart (Str ChPos Len)


The string in which a part is to be found.



Len (Length) Data type: num

Length of string part. A runtime error is generated if the length is negative or greater than the length of the string, or if the substring is (partially) outside the string.

Syntax

StrPart’(’[ Str ’:=’ ] <expression (IN) of string> ’,’[ ChPos ’:=’ ] <expression (IN) of num> ’,’[ Len’:=’ ] <expression (IN) of num> ’)’


System Data Types and Routines 3-StrPart-669

StrPart Functions

Related information

Described in:




3-StrPart-670 System Data Types and Routines

Functions StrToByte

StrToByte Converts a string to a byte data

StrToByte (String To Byte) is used to convert a string with a defined byte data format into a byte data.

Example

VAR string con_data_buffer{5} := ["10", "AE", "176", "00001010", "A"];VAR byte data_buffer{5};

data_buffer{1} := StrToByte(con_data_buffer{1});

The content of the array component data_buffer{1} will be 10 decimal after the StrToByte ... function.

data_buffer{2} := StrToByte(con_data_buffer{2}\Hex);


data_buffer{3} := StrToByte(con_data_buffer{3}\Okt);


data_buffer{4} := StrToByte(con_data_buffer{4}\Bin);


data_buffer{5} := StrToByte(con_data_buffer{5}\Char);


Return value Data type: byte

The result of the conversion operation in decimal representation.

System Data Types and Routines 3-StrToByte-671

StrToByte Functions

Arguments

StrToByte (ConStr [\Hex] | [\Okt] | [\Bin] | [\Char])

ConStr (Convert String) Data type: string

The string data to be converted.

If the optional switch argument is omitted, the string to be converted has decimal (Dec) format.

[\Hex] (Hexadecimal) Data type: switch

The string to be converted has hexadecimal format.

[\Okt] (Octal) Data type: switch

The string to be converted has octal format.

[\Bin] (Binary) Data type: switch

The string to be converted has binary format.

[\Char] (Character) Data type: switch

The string to be converted has ASCII character format.

Limitations

Depending on the format of the string to be converted, the following string data is valid:

Format: String length: Range:Dec .....: ’0’ - ’9’ 3 "0" - "255"Hex .....: ’0’ - ’9’, ’a’ -’f’, ’A’ - ’F’ 2 "0" - "FF"Okt ......: ’0’ - ’7’ 3 "0" - "377"Bin ......: ’0’ - ’1’ 8 "0" - "11111111"Char ....: Any ASCII char (*) 1 One ASCII char

(*) RAPID character codes (e.g. "\07" for BEL control character) can be used as arguments in ConStr.

3-StrToByte-672 System Data Types and Routines

Functions Pow

Syntax

StrToByte’(’[ConStr ’:=’] <expression (IN) of string>[’\’ Hex ] | [’\’ Okt] | [’\’ Bin] | [’\’ Char]’)’ ’;’

A function with a return value of the data type byte.

Related information

Described in:

Convert a byte to a string data Instructions - ByteToStr

Other bit (byte) functions RAPID Summary - Bit Functions

Other string functions RAPID Summary - String Functions


Pow Functions


Functions StrToVal

StrToVal Converts a string to a value

StrToVal (String To Value) is used to convert a string to a value of any data type.

Example

VAR bool ok;VAR num nval;

ok := StrToVal("3.85",nval);

The variable ok is given the value TRUE and nval is given the value 3.85.


TRUE if the requested conversion succeeded, FALSE otherwise.

Arguments

StrToVal ( Str Val )


A string value containing literal data with format corresponding to the data type used in argument Val. Valid format as for RAPID literal aggregates.

Val (Value) Data type: ANYTYPE

Name of the variable or persistent of any data type for storage of the result from the conversion. The data is unchanged if the requested conversion failed.

Example

VAR string 15 := “[600, 500, 225.3]”;VAR bool ok;VAR pos pos15;

ok := StrToVal(str15,pos15);

The variable ok is given the value TRUE and the variable p15 is given the value that are specified in the string str15.

System Data Types and Routines 3-StrToVal-675

StrToVal Functions

Syntax

StrToVal’(’[ Str ’:=’ ] <expression (IN) of string> ’,’[ Val ’:=’ ] <var or pers (INOUT) of ANYTYPE> ’)’


Related information

Described in:




3-StrToVal-676 System Data Types and Routines

Functions Tan

Tan Calculates the tangent value

Tan (Tangent) is used to calculate the tangent value from an angle value.

Example

VAR num angle;VAR num value;..value := Tan(angle);


The tangent value.

Arguments

Tan (Angle)



Syntax

Tan’(’[Angle ’:=’] <expression (IN) of num>’)’


Related information

Described in:

Mathematical instructions and functions RAPID Summary - MathematicsArc tangent with return value in therange [-180, 180] Functions - ATan2

System Data Types and Routines 3-Tan-677

Tan Functions

3-Tan-678 System Data Types and Routines

Functions TestAndSet

TestAndSet Test variable and set if unset

TestAndSet can be used together with a normal data object of the type bool, as a binary semaphore, to retrieve exclusive right to specific RAPID code areas or system resources. The function could be used both between different program tasks and dif-ferent execution levels (TRAP or Event Routines) within the same program task.

Example of resources that can need protection from access at the same time:

- Use of some RAPID routines with function problems when executed in parallel.

- Use of the Teach Pendant - Operator Output & Input

Example

MAIN program task:

PERS bool tproutine_inuse := FALSE;....WaitUntil TestAndSet(tproutine_inuse);TPWrite “First line from MAIN”;TPWrite “Second line from MAIN”;TPWrite “Third line from MAIN”;tproutine_inuse := FALSE;

BACK1 program task:

PERS bool tproutine_inuse := FALSE;.... .WaitUntil TestAndSet(tproutine_inuse);TPWrite “First line from BACK1”;TPWrite “Second line from BACK1”;TPWrite “Third line from BACK1”;tproutine_inuse := FALSE;

To avoid mixing up the lines, one from MAIN and one from BACK1, the use of the TestAndSet function guarantees that all three lines from each task are not separated.

If program task MAIN takes the semaphore TestAndSet(tproutine_inuse) first, then program task BACK1 must wait until the program task MAIN has left the semaphore.


TRUE if the semaphore has been taken by me (executor of TestAndSet function), otherwise FALSE. ???

System Data Types and Routines 3-TestAndSet-679

TestAndSet Functions

Arguments

TestAndSet Object

Object Data type: bool

User defined data object to be used as semaphore. The data object could be a VAR or a PERS. If TestAndSet are used between different program tasks, the object must be a PERS or an installed VAR (intertask objects).

Program execution

This function will in one indivisible step check the user defined variable and, if it is unset, will set it and return TRUE, otherwise it will return FALSE.

IF Object = FALSE THENObject := TRUE;RETURN TRUE;

ELSERETURN FALSE;

ENDIF

Example

LOCAL VAR bool doit_inuse := FALSE;...PROC doit(...)

WaitUntil TestAndSet (doit_inuse);....doit_inuse := FALSE;

ENDPROC

If a module is installed built-in and shared, it is possible to use a local module variable for protection of access from different program tasks at the same time.

Note in this case: If program execution is stopped in the routine doit and the program pointer is moved to main, the variable doit_inuse will not be reset. To avoid this, reset the variable doit_inuse to FALSE in the START event routine.

Syntax

TestAndSet ’(’[ Object ’:=’ ] < variable or persistent (INOUT) of bool> ’)’


3-TestAndSet-680 System Data Types and Routines

Functions TestAndSet

Related information

Described in:

Built-in and shared module User’s Guide - System parameters

Intertask objects RAPID Developer’s Manual - RAPID Kernel Reference Manual -Intertask objects

System Data Types and Routines 3-TestAndSet-681

TestAndSet Functions

3-TestAndSet-682 System Data Types and Routines

Functions TestDI

TestDI Tests if a digital input is set

TestDI is used to test whether a digital input is set.

Examples

IF TestDI (di2) THEN . . .

If the current value of the signal di2 is equal to 1, then . . .

IF NOT TestDI (di2) THEN . . .

If the current value of the signal di2 is equal to 0, then . . .

WaitUntil TestDI(di1) AND TestDI(di2);

Program execution continues only after both the di1 input and the di2 input have been set.


TRUE = The current value of the signal is equal to 1.

FALSE = The current value of the signal is equal to 0.

Arguments

TestDI (Signal)

Signal Data type: signaldi

The name of the signal to be tested.

Syntax

TestDI ’(’[ Signal ’:=’ ] < variable (VAR) of signaldi > ’)’


System Data Types and Routines 3-TestDI-683

TestDI Functions

Related information

Described in:

Reading the value of a digital input signal Functions - DInput


3-TestDI-684 System Data Types and Routines

Functions Trunc

Trunc Truncates a numeric value

Trunc (Truncate) is used to truncate a numeric value to a specified number of decimals or to an integer value.

Example

VAR num val;

val := Trunc(0.38521\Dec:=3);


reg1 := 0.38521

val := Trunc(reg1\Dec:=1);


val := Trunc(0.38521);

The variable val is given the value 0.


The numeric value truncated to the specified number of decimals.

Arguments

Trunc ( Val [\Dec] )


The numeric value to be truncated.

[\Dec] (Decimals) Data type: num

Number of decimals.

If the specified number of decimals is 0 or if the argument is omitted, the value is truncated to an integer.

The number of decimals must not be negative or greater than the available pre-cision for numeric values.

System Data Types and Routines 3-Trunc-685

Trunc Functions

Syntax

Trunc’(’[ Val ’:=’ ] <expression (IN) of num>[ \Dec ’:=’ <expression (IN) of num> ]’)’


Related information

Described in:


Rounding a value Functions - Round

3-Trunc-686 System Data Types and Routines

Functions TestSignRead

TestSignRead Read test signal value

TestSignRead is used to read the actual test signal value.

This function returns the momentary value or the mean value of the latest samples, depending on channel specification in instruction TestSignDefine.

Example

CONST num speed_channel;VAR num speed_value;...TestSignDefine speed_channel, speed, orbit, 1, 0;...! During some movements with orbit’s axis 1speed_value := TestSignRead(speed_channel);...TestSignReset;

speed_value is assigned the mean value of the latest 8 samples generated each 0.5ms of the test signal speed on channel speed_channel. The channel speed_channel measures the speed of axis 1 on the mechanical unit orbit.


The numeric value in SI units on the motor side for the specified channel according to the definition in instruction TestSignDefine.

Arguments

TestSignRead (Channel)

Channel Data type: num

The channel number 1-12 for the test signal to be read.The same number must be used in the definition instruction TestSignDefine.

Program execution

Returns the momentary value or the mean value of the latest samples, depending on the channel specification in the instruction TestSignDefine.

System Data Types and Routines 3-TestSignRead-687

TestSignRead Functions

For predefined test signals with valid SI units for external manipulator axes, see data type testsignal.

Example

CONST num torque_channel;VAR num torque_value;VAR intnum timer_int;CONST jointtarget psync := [...];...CONNECT timer_int WITH TorqueTrap;ITimer \Single, 0.05, timer_int;TestSignDefine torque_channel, torque_ref, IRBP_K, 2, 0.001;...MoveAbsJ psync \NoEOffs, v5, fine, tool0;...IDelete timer_int;TestSignReset;

TRAP TorqueTrapIF (TestSignRead(torque_channel) > 6) THEN

TPWrite “Torque pos = “ + ValToStr(CJointT());Stop;EXIT;

ELSEIDelete timer_int;CONNECT timer_int WITH TorqueTrap;ITimer \Single, 0.05, timer_int;

ENDIFENDTRAP

The joint position, when the torque reference for manipulator IRBP_K axis 2 is for the first time greater than 6 Nm on the motor side during the slow movement to position psync, is displayed on the Operators Window on the TP.

Syntax

TestSignRead’(’[ Channel ’:=’] <expression (IN) of num>’)’


3-TestSignRead-688 System Data Types and Routines

Functions TestSignRead

Related information

Described in:

Define test signal Instructions - TestSignDefine

Reset test signals Instructions - TestSignReset

System Data Types and Routines 3-TestSignRead-689

TestSignRead Functions

3-TestSignRead-690 System Data Types and Routines

Functions ValToStr

ValToStr Converts a value to a string

ValToStr (Value To String) is used to convert a value of any data type to a string.

Example

VAR string str;VAR pos p := [100,200,300];

str := ValToStr(1.234567);

The variable str is given the value "1.23457".

str := ValToStr(TRUE);

The variable str is given the value "TRUE".

str := ValToStr(p);

The variable str is given the value "[100,200,300]".


The value is converted to a string with standard RAPID format. This means in principle 6 significant digits. If the decimal part is less than 0.000005 or greater than 0.999995, the number is rounded to an integer.

A runtime error is generated if the resulting string is too long.

Arguments

ValToStr ( Val )

Val (Value) Data type: ANYTYPE

A value of any data type.

Syntax

ValToStr’(’[ Val ’:=’ ] <expression (IN) of ANYTYPE> ’)’


System Data Types and Routines 3-ValToStr-691

ValToStr Functions

Related information

Described in:




3-ValToStr-692 System Data Types and Routines

Functions VectMagn

VectMagn Magnitude of a pos vector

VectMagn (Vector Magnitude) is used to calculate the magnitude of a pos vector.

Example

A vector A can be written as the sum of its components in the three orthogonal direc-tions:

The magnitude of A is:

The vector is described by the data type pos and the magnitude by the data type num:

VAR num magnitude;VAR pos vector;..vector := [1,1,1];magnitude := VectMagn(vector);


The magnitude of the vector (data type pos).

Az

Ax

Ay

Az

y

x

A Axx Ayy Azz+ +=

A Ax2 Ay

2 Az2

+ +=

System Data Types and Routines 3-VectMagn-693

VectMagn Functions

Arguments

VectMagn (Vector)

Vector Data type: pos

The vector described by the data type pos.

Syntax

VectMagn’(’[Vector ’:=’] <expression (IN) of pos>’)’


Related information

Described in:


3-VectMagn-694 System Data Types and Routines

INDEX

A

Abs 1absolute value 1ACos 1AOutput 1arcus cosine 1arcus sine 1arcus tangent 1array

get size 1ASin 1ATan 1ATan2 1

C

CDate 1CJointT 5, 1ClkRead 3clock

read 3Cos 1CPos 1CRobT 9, 1CTime 1CTool 1CWobj 1

D

date 1DefDFrame 1DefFrame 1digital output 1Dim 1displace

position 1displacement

tool direction 1displacement frame 1DotProd 1, 5, 1DOutput 1

E

EulerZYX 3Exp 1exponential value 1

F

fileread 3, 7, 13unload 3

frame 1

G

GetTime 1GOutput 1group of I/O 1

I

IsPers 1IsVar 1

M

MaxRobSpeed 3MirPos 1mirroring 1

N

NumToStr 1

O

Offs 1offset 1operating mode

read 1OpMode 1OrientZYX 1ORobT 1

P

PoseInv 1PoseMult 1Pow 1Present 1program displacement

remove from position 1

R

readclock 3


3

current date 1current joint angles 5, 1current robot position 9, 1current time 1current tool data 1current work object 1digital output 1file 3, 7, 13group of outputs 1serial channel 3, 7, 13

ReadBin 3ReadMotor 1ReadNum 3ReadStr 7, 13RelTool 1Round 1RunMode 1running mode

read 1

S

serial channelread 3, 7, 13

Sin 1Sqrt 1square root 1StrFind 1StrLen 1StrMap 1StrMatch 1StrMemb 1StrOrder 1StrPart 1StrToVal 1

T

Tan 1TestDI 1time 1Trunc 1

U

UnLoad 3

V

ValToStr 1

-2 System Data Types and Routines

3

System Data Types and Routines
3-5

3

function

Documents

input value

value tests

argument value

physical value

returned value

valuethe current value

test signal value

positive value of numeric